Real-time navigation method of data processing computer system for distributed POS

A computer system and data processing technology, applied in the direction of electrical digital data processing, special data processing applications, calculations, etc., can solve the problem of large amount of calculation, cannot apply distributed POS real-time navigation, and cannot estimate the main/sub-IMU lever arm in real time Length and other issues to achieve the effect of reducing the acceleration error

Active Publication Date: 2015-06-10
BEIHANG UNIV
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Problems solved by technology

The existing distributed POS transfer alignment method does not consider the influence of the lever arm length error when establishing the state equation, and cannot estimate the lever arm length between the main / sub-IMU in real time; and the existing method has a large amount of calculation, which is suitable for ex post Processing, cannot be applied to real-time navigation of distributed POS

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  • Real-time navigation method of data processing computer system for distributed POS
  • Real-time navigation method of data processing computer system for distributed POS
  • Real-time navigation method of data processing computer system for distributed POS

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Embodiment Construction

[0062] Such as figure 1 Shown, concrete method of the present invention implements as follows:

[0063] 1. Synchronous collection of distributed POS data; the time synchronization method based on PPS real-time calibration and frequency division is adopted to realize the simultaneous collection of raw data of distributed POS main / sub-IMU, the principle is as follows figure 2 Shown: The PPS received by the distributed POS data processing computer is introduced into the signal acquisition circuits of the three IMUs as a synchronous pulse signal, and the PPS is used as the reference to trigger the main / sub-IMU to start data acquisition at the same time, and then according to each second The PPS calibrates the internal clock of the IMU, adjusts the frequency division number of the data collection cycle in real time, corrects the clock drift inside the IMU, and ensures that each IMU is always collecting data at the same time.

[0064] 2. Initial alignment of the main IMU; the trad...

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Abstract

The invention provides a real-time navigation method of a data processing computer system for a distributed POS. The method comprises the steps of acquiring three IMU original data at the same time by the PPS actual calibration and frequency division time synchronizing method; fusing the main IMU data with the GPS data to obtain the main POS real-time navigation result; initially aligning a shaking base through the secondary IMU by the inertia vector quadratic integral based analysis aligning method; performing the transmission aligning of the distributed POS by the multi-stage lever arm compensation based kalman filtering method so as to obtain the real-time navigation result of the secondary IMU and the relative spatial relationship between the main IMU and the secondary IMU. The method achieves the real-time data processing of the distributed POS with one main IMU and two secondary IMUs and is applicable to high-precision distributed inertia measurement, navigation and combined navigation systems.

Description

technical field [0001] The invention relates to a real-time navigation method of a data processing computer system for distributed POS, which can be applied to distributed POS (Position and Orientation System, position and attitude measurement system), and can also be applied to inertial network collaborative navigation, inertial / GPS (Global Position System, Global Positioning System) data processing and navigation calculation of integrated navigation system. Background technique [0002] High-precision POS consists of an inertial measurement unit (Inertial Measurement Unit, IMU) and GPS. IMU is the core component of INS (Inertial Navigation System) / GPS, POS and other inertial measurement systems; GPS can provide position, velocity, time and high-precision pulse per second (PPS) information. High-precision POS can provide high-frequency, high-precision time and space reference information for high-resolution aerial remote sensing systems, and improve imaging accuracy and ef...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47G06F19/00
CPCG01S19/47
Inventor 李建利刘刚贾黎冬房建成白立建卢兆兴叶文
Owner BEIHANG UNIV
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