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MEMS strapdown inertial navigation initial alignment method based on adaptive central difference Kalman filtering

A Kalman filter and central difference technology, applied in the field of navigation

Inactive Publication Date: 2015-02-25
HARBIN ENG UNIV
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  • Summary
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a MEMS strapdown inertial navigation initial alignment method based on adaptive central difference Kalman filter in order to solve the problem that the statistical model of measurement noise is inaccurate

Method used

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  • MEMS strapdown inertial navigation initial alignment method based on adaptive central difference Kalman filtering
  • MEMS strapdown inertial navigation initial alignment method based on adaptive central difference Kalman filtering
  • MEMS strapdown inertial navigation initial alignment method based on adaptive central difference Kalman filtering

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Experimental program
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Embodiment 1

[0086] 1. Use GPS to determine the initial longitude and latitude parameters of the carrier;

[0087] 2. Collect the data output by the MEMS accelerometer and magnetometer; use the analytical method to perform rough alignment, and roughly obtain the attitude moment from the carrier coordinate system to the calculation geographic coordinate system First, the output signal of the MEMS accelerometer is used to determine the pitch angle and roll angle of the carrier. The principle is that under the condition of a static base, the gravitational acceleration has no projection component in the horizontal direction of the geographical coordinate system, and only has a projection component on the Z axis. The output is measured and then the magnetometer output signal is used to determine the heading angle of the vehicle.

[0088]

[0089] where θ 0 ,γ 0 , They are pitch angle, roll angle and heading angle;

[0090] 3. After the rough alignment is completed, the horizontal misal...

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Abstract

The invention belongs to the field of navigation and in particular relates to an MEMS strapdown inertial navigation initial alignment method for statistical property uncertainty of measurement noise. The method comprises the following steps: determining initial longitude and latitude of a carrier by utilizing GPS; acquiring the acceleration data output by an MEMS accelerometer and magnetic field intensity data output by a magnetometer; selecting the initial filter value; acquiring angular velocity output by an MEMS gyroscope and acceleration data output by the MEMS accelerometer; and estimating the platform misalignment angle, thus finishing accurate initial alignment. According to the method disclosed by the invention, a measurement noise variance matrix is estimated and adjusted in real time by monitoring the information sequence change during iteration each time, the adaptive ability of the system is improved, and the filtering stability is improved on the basis that the filtering precision is guaranteed.

Description

technical field [0001] The invention belongs to the field of navigation, and in particular relates to an initial alignment method for MEMS strapdown inertial navigation with uncertain statistical characteristics of measurement noise. Background technique [0002] Micro-Electronic Mechanical System-MEMS, also referred to as MEMS, is a new generation of micro-electromechanical devices processed by nanotechnology. It takes silicon semiconductor material as the processing object, adopts special integrated circuit manufacturing technology to process micro-devices with driving, control and signal processing functions on the order of millimeters. A MEMS inertial measurement unit is an inertial measurement device that includes a three-axis MEMS gyroscope and a three-axis MEMS accelerometer, where the three axes of the gyroscope and the accelerometer are perpendicular to each other and comply with the right-hand rule. Given that MEMS has the advantages of small size, light weight, l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005G01C21/16
Inventor 王通达宋春雨李美玲徐英蛟刘萍于天琦
Owner HARBIN ENG UNIV
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