Combined navigation method based on integrated gyroscope free strapdown inertial navigation system and GPS

Abstract

The invention discloses a combined navigation method based on an integrated gyroscope free strapdown inertial navigation system and a GPS, and belongs to the technical field of combined navigation. The method disclosed by the invention is mainly characterized by comprising the following steps: firstly, selecting a six-dimensional accelerating sensor as an inertial element for inertial navigation and carrying out strapdown algorithm so as to form the integrated gyroscope free strapdown inertial navigation system; secondarily, combining the strapdown inertial navigation system as a main sub-system with the GPS to form the combined navigation method; selecting a state variable of the combined navigation system to establish a state equation and a measuring equation of the combined navigation system; and fusing information by using a Kalman filter to obtain the optimum estimate of the system so as to correct the navigation parameter value output by the inertial navigation system, thereby obtaining the optimum solution of a carrier navigation parameter finally. The combined navigation method based on the integrated gyroscope free strapdown inertial navigation system and the GPS provided by the invention can improve the precision of each single navigation system and can effectively enhance the comprehensive performance of the navigation systems.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to an integrated navigation method of a gyro free strapdown inertial navigation system (GFSINS) and a GPS system. Background technique [0002] With the modern development of aircraft, missiles, submarines and robot technology, the military and civilian fields have more and more urgent demands for new navigation technologies, and the requirements for navigation accuracy are getting higher and higher. Other performances of navigation systems, such as autonomy , stability, anti-interference ability and other requirements are becoming more and more comprehensive. Judging from the existing navigation technology, it is almost impossible for a single type of navigation system to meet the above requirements at the same time, so the integrated navigation technology has been developed rapidly in recent years. Integrated navigation refers to the combination of two or more navig...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to propose a gyro-free strapdown inertial navigation system and GPS system based on the existing integrated navigation system based on inertial navigation system and GPS system, which has complex calculation and low efficiency. Combined navigation method with simple structure, high calculation efficiency and good system stability

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