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Inertial navigation platform and Beidou satellite-based high-precision and ultra-tightly coupled navigation method

A Beidou satellite and ultra-tight coupling technology, applied in the field of high-precision navigation, can solve problems such as high system complexity

Inactive Publication Date: 2015-12-02
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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Problems solved by technology

[0005] Ultra-tight coupling is a new concept navigation method for integrated navigation, which has high practical significance and performance parameters, but at the same time, its system complexity is also the highest

Method used

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Embodiment Construction

[0125] specific implementation plan

[0126] Specific embodiments of the present invention are as figure 1 As shown, the specific implementation steps are as follows:

[0127] (1) Establish a random linear steady discrete system model according to the state equation and measurement equation of the moving object:

[0128] X k = Φ k , k - 1 X k - 1 + Γ k , k - 1 W ...

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Abstract

The invention relates to an inertial navigation platform and Beidou satellite-based high-precision and ultra-tightly coupled navigation method. According to the method, a stochastic linear time-invariant discrete system mechanical model is established according to a moving object state equation and a measurement equation; statistic analysis is performed on the first-order difference sequence and second-order difference sequence of redundancy measurement values of a system, so that a redundancy measurement-based adaptive Kalman filtering algorithm can be realized, and therefore, the measurement noises of the system can be estimated accurately, and noise variance R can be adjusted adaptively; according to a traditional ultra-tightly coupled structure, a neural network prediction module is introduced so as to be used for assisting a Beidou satellite carrier tracking loop and a code tracking loop under a lock loss state; a time delay filter is adopted for a Beidou satellite receiver, and therefore, the correlation between loop tracking errors and update time in the ultra-tightly coupled system can be significantly improved. The method of the invention belongs to the navigation control technical field and can be applied to high-precision navigation of carriers carrying strapdown inertial navigation platforms.

Description

technical field [0001] The invention relates to a high-precision ultra-tight coupling navigation method of an inertial navigation platform and a Beidou satellite, which is suitable for high-precision navigation of various carriers equipped with a strapdown inertial navigation platform. technical background [0002] The two basic navigation methods in today's navigation field are inertial navigation system (INS) and satellite-based positioning system represented by GPS and BDS. At the same time, these two navigation systems have strong complementarities, and have always been a hot spot in the research of integrated navigation in recent years; inertial navigation has the advantages of strong autonomy, no environmental influence, and high navigation accuracy in a short period of time; satellite navigation has the advantages of positioning High precision and good time stability. The working characteristics of the two just complement each other in terms of performance. Satellite...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47
CPCG01S19/47
Inventor 任元苏靖轩邵琼玲陈晓岑缪存孝蔡远文李新洪汪洲
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV