Strapdown inertial navigation system/global navigation satellite system combined based navigation filter system and method

An integrated navigation filtering and global navigation satellite technology, applied in the field of strapdown inertial navigation system/global navigation satellite system integrated navigation filtering system, can solve the problems of reducing the accuracy and rapidity of integrated navigation, slow convergence process, etc., and improve fault diagnosis. and fault tolerance, faster convergence, and improved accuracy

Active Publication Date: 2014-12-03
CHENGDU GUOXING COMM
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Problems solved by technology

The duration of this convergence process is affected by the running time of the pure inertial navigation mode. The longer the pure inertial navigation mode runs, the slower the convergence process is, sometimes even accompanied by an oscillation process, which greatly reduces the accuracy and rapidity of integrated navigation.

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  • Strapdown inertial navigation system/global navigation satellite system combined based navigation filter system and method
  • Strapdown inertial navigation system/global navigation satellite system combined based navigation filter system and method
  • Strapdown inertial navigation system/global navigation satellite system combined based navigation filter system and method

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Embodiment Construction

[0028] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0029] A strapdown inertial navigation system / global navigation satellite system combined navigation filter system, which consists of a one-time binding module, an earth parameter calculation module, an initial alignment module, a strapdown inertial navigation calculation module, an improved filter algorithm parameter calculation module, a normal Composed of mode combination navigation filter module, fault mode combination navigation filter module and feedback correction output module;

[0030] The one-time stapling module is used for stapling as the inherent parameters of the initial alignment module and the strapdown inertial navigation calculation module according to the local priori temperature compensation parameters, the system error p...

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Abstract

The invention discloses a strapdown inertial navigation system(SINS) / global navigation satellite system (GNSS) combined navigation filter system comprising a primary binding module, an earth parameter calculation module, an initial alignment module, a strapdown inertial navigation calculation module, an improved filter algorithm parameter calculation module, a normal-mode combined navigation filtering module, a fault-mode combined navigation filtering module and a feedback correction output module. The improved filter algorithm parameter calculation module calculates a sate transition matrix, a system drive noise covariance matrix, and a measurement noise covariance matrix that are needed by an improved kalman filtering algorithem based on data provided by an SINS and a GNSS and transmits the information to the normal-mode combined navigation filtering module and the fault-mode combined navigation filtering module to carry out filtering calculation according to the result and a status flag. According to the invention, the combined navigation filtering algorithm is modularized, thereby obviously improving precision of the combined navigation and accelerating the convergence speed of the combined navigation filtering algorithm; and the kalman filtering divergence can be effectively inhibited.

Description

technical field [0001] The invention relates to integrated navigation information fusion technology, in particular to a strapdown inertial navigation system / global navigation satellite system integrated navigation filtering system and method. Background technique [0002] The strapdown inertial navigation system (SINS) can provide the attitude, speed and position information of the carrier completely autonomously and in real time, and is widely used in military and civilian fields such as aviation, spaceflight and navigation. But its outstanding disadvantage is that navigation errors will accumulate over time, and it cannot complete long-term navigation tasks independently. Global Navigation Satellite System (GNSS) has the capability of long-term high-precision navigation, but its disadvantage is that satellite signals are easily interfered and cannot provide continuous navigation information. [0003] The SINS / GNSS integrated navigation system combines GNSS and SINS for na...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49
CPCG01C21/165G01C21/20G01S19/49
Inventor 李世泽李永慧陈臻
Owner CHENGDU GUOXING COMM
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