Calculation Method of Attitude Angle in Integrated Navigation

Abstract

The invention provides an attitude angle calculation method in integrated navigation, and belongs to the field of the design of navigation. The attitude angle calculation method in the integrated navigation comprises the steps of establishing a closed-loop feedback circuit by adopting a preliminarily-acquired error angle and a preliminarily-acquired angular speed of a strapdown inertial navitation system as input and a follow-up angle as output in a follow-up angle correction way according to an incidence relation of the follow-up angle and a gain, a damping ratio and a natural angle frequency of the strapdown inertial navigation system circuit, further acquiring a follow-up angle with convergence characteristics to be used as an optimized follow-up angle, correcting an original strapdown matrix according to the optimized follow-up angle, determining a first optimized strapdown matrix, and acquiring an attitude angle according to the first optimized strapdown matrix, so that the precision calculation of the attitude angle is completed, and the weaknesses in the prior art can be solved.

Description

technical field [0001] The invention relates to the field of navigation, in particular to a method for calculating attitude angles in integrated navigation. Background technique [0002] It is already a routine way to rely on maps for marching operations, or travel and exploration. The purpose of using a map is to move towards the target location, and using a map for navigation is also the most primitive way of navigation. Among them, the basis of navigation is to obtain two elements, the first is the location of the target, and the second is to obtain the location of itself. With the advancement of communication technology and information processing technology, two new navigation methods have emerged, inertial navigation technology and space star navigation technology. These two methods also focus on accurately obtaining one's own position. [0003] Inertial navigation technology is a cutting-edge technical subject in modern science and technology, and it has been widely ...

AI Technical Summary

Problems solved by technology

The satellite receiver has high navigation and positioning accuracy and does not decrease with time. Its disadvantages are low data refresh rate, susceptibility to interference, and easy loss of satellites in dynamic environments or when blocked, resulting in interruption of positioning

[0011] In the traditional algorithm, when the pitch angle of the moving carrier (self) using the integrated navigation algorithm is very large, the mathematical platform solved by the strapdown inertial navigation system is close to losing a degree of freedom, resulting in the navigation angle of heading angle, pitch angle and roll angle. The calculation error of the angle is very large, which directly leads to a large speed error

The Kalman filter in the integrated navigation algorithm requires the state equation model to be accurate, and the model error caused by the large errors of the heading angle, roll angle and speed makes the deviation between the recursive state estimation of the Kalman filter and the real state larger and larger. As a result, the performance of the integrated navigation system deteriorates sharply

[0012] In summary, when the pitch angle of the moving carrier is very large, the accuracy of the attitude angle will decrease, which in turn will lead to a decrease in the accuracy of the existing navigation methods.

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