Polar navigation ship strapdown inertial navigation system readjusting method based on horizontal coordinate system
A strapdown inertial navigation and abscissa system technology, applied in the field of navigation, can solve problems such as the inapplicability of traditional correction algorithms
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[0036] Hereinafter, the present invention will be described in more detail with examples in conjunction with the accompanying drawings:
[0037] Combine Figure 1~2 The specific implementation of the present invention can be accomplished through the following steps:
[0038] Step 1: At t n At the moment, the position information provided by the external measurement equipment (such as GPS, etc.) is compared with the position information output value of the inertial navigation system to obtain the position error of the first point's horizontal and longitude And horizontal and latitude position error Afterwards, reposition the system. After readjustment, there is
[0039] P ( t n + ) = 0 0 δ K ‾ ( t n ) T . The P equation in the abscissa system is used to calculate the position and heading error of the first position point after the position readjustment and t n The relationship between the platform drift angle at time: ...
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