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Selection method for suitable matching area of gravity-aided inertial navigation

A technology of inertial navigation and adaptation area, which is applied in directions such as navigation, mapping and navigation, measurement devices, etc., and can solve the problem of ignoring the directionality of the adaptation area.

Active Publication Date: 2015-11-04
BEIJING CNTEN SMART TECH CO LTD
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art, to propose a selection method for the gravity-assisted inertial navigation adaptation area, and to solve the technical problem that the traditional adaptation area selection method ignores the directionality of the adaptation area

Method used

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  • Selection method for suitable matching area of gravity-aided inertial navigation
  • Selection method for suitable matching area of gravity-aided inertial navigation
  • Selection method for suitable matching area of gravity-aided inertial navigation

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Embodiment Construction

[0048]Step 1, divide the navigation area into several 1°×1° sub-areas, and analyze the isotropy of each sub-area;

[0049] All landscapes in nature, including the gravitational field, have fractal characteristics. In fractals, the Werierstrass-Mandelbrot function (W-M function) has mathematical characteristics similar to the fractional Brownian motion with an index of α. We use it here for the gravitational anomaly sequence of the gravitational field The characterization of the three-dimensional surface profile, the W-M function with fractal dimension D is as follows:

[0050] g ( x , y ) = G D - 1 Σ n = n 1 ∞ cos 2 π ...

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Abstract

The invention provides a selection method for a suitable matching area of gravity-aided inertial navigation to overcome the technical problem that a traditional suitable matching area selection method neglects the directivity of a suitable matching area. According to the method, the navigation area of a carrier is divided into a plurality of subareas; classified statistic and analysis are carried out on gravity abnormal data in each subarea; a gravity abnormity three-dimensional curved surface isotropic coefficient, a gravity abnormity variation coefficient, a gravity abnormity skewness coefficient and a gravity abnormity kurtosis coefficient of each subarea are separately obtained; comprehensive characteristic parameter expression is constructed according to the relationship between each parameter and gravity abnormity probability distribution; thus, selection of the suitable matching area is realized.

Description

technical field [0001] The invention relates to a selection method of a gravity-assisted inertial navigation adaptation area, which belongs to the field of track planning of a gravity-assisted inertial navigation system. Background technique [0002] The most commonly used navigation method for underwater vehicles is inertial navigation. Inertial navigation essentially uses acceleration information to continuously integrate to obtain velocity and position information. The positioning error will accumulate over time. At present, the gravity field is commonly used to assist inertial navigation in position correction. Since the gravity field is a slowly changing random physical field, only in areas with significant changes can the auxiliary inertial navigation be effectively assisted in position correction. In areas where gravity changes are not significant, the matching effect is poor, and even divergence may occur. Therefore, it is necessary to In the carrier navigation area,...

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/005
Inventor 王博朱宇炜邓志红肖烜
Owner BEIJING CNTEN SMART TECH CO LTD
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