A kind of real-time navigation method of data processing computer system for distributed POS

A computer system and data processing technology, applied in electrical digital data processing, special data processing applications, calculations, etc., can solve the problem of large amount of calculation, inability to estimate the length of the main/sub IMU lever arm in real time, and inability to apply distributed POS real-time Navigation and other issues to achieve the effect of reducing the acceleration error

Active Publication Date: 2018-09-04
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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  • A kind of real-time navigation method of data processing computer system for distributed POS
  • A kind of real-time navigation method of data processing computer system for distributed POS
  • A kind of real-time navigation method of data processing computer system for distributed POS

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Embodiment Construction

[0062] Such as figure 1 As shown, the specific method of the present invention is implemented as follows:

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

[0064] 2. The initial ali...

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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 for a distributed POS data processing computer system, which can be applied to distributed POS (Position and Orientation System, position and attitude measurement system), and can also be applied to inertial network coordinated navigation, inertial / GPS (Global Position) System (Global Positioning System) data processing and navigation calculation of integrated navigation system. Background technique [0002] The high-precision POS consists of an 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, speed, 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 efficiency through motion error compe...

Claims

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Application Information

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Patent Type & Authority Patents(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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