Gravity-assisted strapdown inertial navigation method based on bayesian recursion filtering

Abstract

The invention provides a gravity-assisted strapdown inertial navigation method based on bayesian recursion filtering. In a strapdown inertial navigation system, under the condition without correction, the error in longitude of the strapdown inertial navigation system is diverged along with the time. In order to inhibit divergency of the error of the system and under the premise without damaging the concealment of the strapdown inertial navigation system, the invention provides the gravity-assisted strapdown inertial navigation method based on the bayesian recursion filtering. The gravity-assisted strapdown inertial navigation method provided by the invention has the advantages that after the measurement information is obtained, the posterior probability density of a state variable is gained by utilizing the bayesian law from the prior probability of the state variable, so that a globally optimal solution of the state variable is obtained; and after being gained, the globally optimal solution of the state variable is utilized for correcting the position error of the strapdown inertial navigation system, so that the purpose of improving the positioning accuracy of the system is achieved.

Description

Technical field [0001] The invention relates to a strapdown inertial navigation system navigation method, in particular to a new gravity assisted strapdown inertial navigation method. Background technique [0002] Inertial navigation is an autonomous navigation method that uses inertial sensors, reference directions and initial positions to determine the attitude, position and speed of the carrier. It is not affected by the environment, carrier maneuvering and radio interference, can continuously provide all navigation parameters, has high relative accuracy in a short time, and is the most important autonomous navigation method. The fatal flaw of the inertial navigation system is that the gyro keeps drifting with time, and the navigation positioning error continues to accumulate with the navigation time. It must be recalibrated regularly by other positioning means such as GPS. However, when GPS and other traditional navigation methods are used to modify the strapdown inertial na...

AI Technical Summary

Problems solved by technology

However, when other traditional navigation methods such as GPS are used to correct the strapdown inertial navigation system, the concealment of the strapdown inertial navigation system will be destroyed, and radio positioning methods such as GPS are easily interfered, and even deceived by the enemy using technical means, making it cannot be used properly, so the strapdown inertial navigation system must be corrected by other passive methods of navigation

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