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A Method of Navigation and Positioning Using Gravity Vector and Gradient Tensor

A gradient tensor and gravitational gradient technology, applied in the field of navigation and positioning, can solve problems such as ineffective elimination of influence and component value differences, and achieve the effects of facilitating navigation and positioning, weakening the influence of attitude errors, and good autonomy

Active Publication Date: 2017-04-19
CHINA ACADEMY OF SPACE TECHNOLOGY
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Problems solved by technology

In the currently widely used method of using gravity or gravity gradient to assist inertial navigation, the matching quantity used also needs direction information, because the gravitational vector and gravitational gradient tensor have different component values ​​in different coordinate systems. Significant differences
Therefore, the method of using traditional gravity or gravity gradient to assist inertial navigation will not be able to effectively eliminate the part of inertial navigation positioning error that originates from attitude error

Method used

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  • A Method of Navigation and Positioning Using Gravity Vector and Gradient Tensor
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  • A Method of Navigation and Positioning Using Gravity Vector and Gradient Tensor

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Embodiment approach

[0039] Such as figure 1 Shown, main embodiment of the present invention is as follows:

[0040] (1) First, establish the 3D information of the background field of the target area according to the existing observations, and the quantities used mainly include

[0041] The following three sets of invariants:

[0042]

[0043] where: g i ,v i,j (i, j=x, y, z) are the gravitational vector and gravitational gradient tensor components of each point in the target area that have been observed in advance, which can be values ​​in any coordinate system, and can also be tried using background field data Construct the corresponding mathematical model. The elements of the final basic database are: (x, y, z) or (r, θ, λ), (g, B, C).

[0044] (2) Using the real-time observation data, formula (1) is used to calculate the gravitational vector invariant and two gradient tensor invariants of the point to be located;

[0045] (3) To judge the feasibility of direct positioning, it is mainl...

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Abstract

The invention discloses a method for navigation positioning by using a gravitation vector and gradient tensor. The method comprises the following steps: firstly, establishing a background field three-dimensional information databank of a target area according to beforehand observation, wherein basic elements comprise position coordinates of different points, gravitation vector invariants and gravitation gradient tensor invariants, subsequently observing and calculating according to the gravitation and the gravitation gradient in real time so as to obtain three invariants, judging whether navigation positioning can be performed directly or not by judging whether a resolving matrix is of full rank, if navigation positioning can be performed directly, performing iterative computation to obtain the position of a point to be positioned according to a least squares algorithm, if navigation positioning cannot be performed directly, performing matching search with the combination of an inertial navigation positioning technique, and performing iterative search for multiple times so as to obtain the position of the point to be positioned. The method has the outstanding characteristics that the gravitation vector invariants and gravitation gradient tensor invariants are adopted, and not only is contribution of all components of gravitation field information considered, but also the components are not related to the posture, so that compared with a conventional algorithm, the method can greatly reduce the influence of posture errors.

Description

technical field [0001] The invention relates to a method for navigation and positioning by using gravity vector and gradient tensor, which is especially suitable for gravity-assisted navigation and positioning under the condition of large attitude error observation. Background technique [0002] Compared with the current popular navigation methods (such as satellite navigation, radio navigation, etc.), gravity-assisted inertial navigation has the characteristics of autonomy and passiveness, which determines that this navigation method has certain advantages in certain situations. Since the concept of gravity-assisted inertial navigation was proposed in 1975, it has attracted the attention of many scholars, for example: Metzger and Jircitano (Journal of Spacecraft and Rockets, 1976.13 (6): 323-324), Affeck and Jircitano (Proceedings of IEEE's Position Location and Navigation Symposium (PLANS), 1990, 60-66) have studied how to use the gravity gradient to improve the accuracy o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 万晓云于锦海李孟晓刘波范达薛明
Owner CHINA ACADEMY OF SPACE TECHNOLOGY
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