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ICCP algorithm-based gravity matching aided inertial navigation method

An inertial navigation and gravity matching technology, applied in the field of inertial navigation, can solve problems such as slow speed, long time-consuming inertial navigation, and large time-consuming

Active Publication Date: 2014-05-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The submersible travels slowly underwater, causing the algorithm to spend a lot of time on the link of sampling points and gravity values
During this period, the inertial navigation error continues to accumulate over time. If the matching is performed again, it will inevitably result in a complete gravity matching to correct the inertial navigation, which will take a long time and have low accuracy.

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  • ICCP algorithm-based gravity matching aided inertial navigation method
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  • ICCP algorithm-based gravity matching aided inertial navigation method

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Embodiment Construction

[0022] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0023] The invention provides a gravity matching assisted inertial navigation method based on the improved ICCP algorithm, which improves the traditional ICCP algorithm.

[0024] Such as figure 1 As shown, the traditional gravity-assisted inertial navigation system is generally divided into four modules: the inertial navigation system, the pre-stored gravity reference map, the measured gravity parameter system based on the moving base, and the matching algorithm. The main purpose of the inertial navigation system module is to carry out autonomous and concealed navigation and positioning of the aircraft during navigation; the main purpose of the pre-stored gravity map module is to use the position indicated by the inertial navigation system to find the gravity value on the gravity map as a matching value; The main purpose of the measured gravity system mod...

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Abstract

The invention discloses an ICCP algorithm-based gravity matching aided inertial navigation method. By the method, precision and real-time performance of a gravity-aided inertial navigation system can be raised effectively so as to reduce accumulative errors of the inertial navigation system and gravity matching failure under big error condition of the inertial navigation system. According to the invention, the ICCP algorithm in a matching algorithm module is improved; and single-point data sampling replaces a sequence sampling method, and single-point data replaces first data in sequential data to form a new sequence so as to shorten data sampling time and raise matching efficiency.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a gravity matching-assisted inertial navigation method based on an improved ICCP algorithm. Background technique [0002] The inertial navigation system is passive and autonomous, so underwater vehicles generally use a navigation system with inertial navigation as the core to achieve autonomous underwater navigation. However, the inertial navigation system has the defect that the error accumulates over time and diverges. If it is not corrected regularly, it will not be able to guarantee the long endurance and high precision of the underwater vehicle. Therefore, it is necessary to correct the inertial navigation in real time or regularly through other navigation methods. system to suppress the growth of the position error of the navigation system and improve the long-duration navigation accuracy. At present, the passive methods commonly used in auxiliary inertial navi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/16G01C21/20
Inventor 付梦印王博邓志红刘美琪肖烜
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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