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Lever arm error calculation method based on nonlinear tracking differentiator

A tracking differentiator, non-linear technology, applied in the fields of inertial navigation systems and satellite navigation systems, can solve the problems of measurement accuracy influence, data effect is not obvious, system position, speed and acceleration errors and other problems

Active Publication Date: 2014-08-06
HARBIN ENG UNIV
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Problems solved by technology

This kind of lever arm error will cause the position, velocity and acceleration errors of the system, and these errors will have a great impact on the measurement accuracy, making the measured data effect not obvious

Method used

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  • Lever arm error calculation method based on nonlinear tracking differentiator
  • Lever arm error calculation method based on nonlinear tracking differentiator
  • Lever arm error calculation method based on nonlinear tracking differentiator

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Embodiment Construction

[0040] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0041] The invention utilizes the SINS accelerometer and the gyroscope to measure the specific force information of the carrier and the angular velocity information of the carrier respectively, and obtains the projected angular velocity of the carrier system relative to the geographic system in the carrier system from the navigation solution equation Calculate the position of its receiver in the carrier system according to the satellite navigation system (GPS or Beidou) Using the SINS system to calculate its position in the carrier system Differentiate the position difference between the receiver and SINS in the carrier system to obtain the velocity and acceleration expressions, and calculate the rotation vector to update the quaternion Q by collecting the angular rate signal from the gyroscope. update; at the same time by the tracking differenti...

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Abstract

The invention belongs to the technical field of inertial navigation systems and satellite navigation systems, and particularly relates to a lever arm error calculation method based on a nonlinear tracking differentiator in the SINS / satellite navigation system gravity measurement process. The lever arm error calculation method comprises the steps that specific force of an SINS in a carrier coordinate system is obtained; a velocity vector of a geographic coordinate system relative to an earth coordinate system is obtained; the angular velocity from the geographic coordinate system to an inertial coordinate system is obtained; the angular velocity of a carrier relative to the geographic coordinate system after navigation calculation is conducted on the carrier; the lever arm distance between the SINS and a satellite navigation system in the carrier coordinate system is obtained; an expression in the geographic coordinate system and the relation between the lever arm distance and the angular velocity are obtained; the differential value of a skew symmetric matrix is obtained; a lever arm error value is calculated. According to the lever arm error calculation method based on the nonlinear tracking differentiator, the problem that traditional direct lever arm error processing brings in noise and is poor in accuracy, when the nonlinear tracking differentiator is configured, the nonlinear tracking differentiator can be configured as long as parameters are adjusted properly and a reasonable nonlinear function is constructed, and an output result with quite high accuracy is obtained.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation systems and satellite navigation systems, and in particular relates to a method for solving the error of a lever arm based on a nonlinear tracking differentiator in gravity measurement of a SINS / satellite navigation system. Background technique [0002] SINS / satellite navigation system In the gravity measurement, SINS and satellite navigation system receivers can be carried on ships and aircrafts; due to the wide range of gravity measurement, small terrain restrictions, fast measurement speed and short period, the system has the advantages of fast deployment, etc. , has been extensively investigated. [0003] At present, in practical applications, there is a certain distance between the center of the SISN installed on the carrier and the center of the satellite navigation system (GPS or Beidou) receiver, resulting in a lever-arm effect error. This error of the lever arm will cause err...

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Application Information

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IPC IPC(8): G01S19/49G01S19/47
CPCG01C21/165G01S19/47G01S19/49
Inventor 周广涛郝勤顺赵博孙艳涛姜鑫夏秀玮李佳璇梁宏张丽丽孙成娇
Owner HARBIN ENG UNIV
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