Transfer alignment time delay estimation and compensation method based on velocity plus attitude matching

A technology of time delay and compensation method, applied in the field of inertia, can solve the problems of not improving the accuracy of transfer alignment and the error estimation accuracy of inertial devices

Inactive Publication Date: 2015-12-16
BEIHANG UNIV
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Problems solved by technology

[0003] Using the Kalman filter method, the time delay can be effectively estimated and compensated, but the existing methods have not improved the transfer alignment accuracy while suppressing the impact of the time delay on the error estimation accuracy of the inertial device

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  • Transfer alignment time delay estimation and compensation method based on velocity plus attitude matching
  • Transfer alignment time delay estimation and compensation method based on velocity plus attitude matching
  • Transfer alignment time delay estimation and compensation method based on velocity plus attitude matching

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Embodiment Construction

[0051] See figure 1 , a transfer alignment time delay estimation and compensation method based on speed plus attitude matching in the present invention, the specific steps of the method are as follows:

[0052] Step 1: Use the information of the main inertial navigation system that has been aligned to complete the coarse alignment of the sub-inertial navigation system and the initialization of navigation information;

[0053] Step 2: The main and sub inertial navigation systems perform navigation calculations respectively, and the speed and attitude information of the main inertial navigation are transmitted to the navigation computer of the sub inertial navigation;

[0054]Step 3: In the navigation computer of the sub-inertial navigation, the filter observation model is derived based on the commonly used speed / attitude matching mode, the observation equation including the time delay model is established, and the standard discrete Kalman filter iterative settlement is performe...

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Abstract

The invention discloses a transfer alignment time delay estimation and compensation method based on velocity plus attitude matching. The method comprises the following four steps: 1, utilizing aligned master inertial navigation system information to finish coarse alignment of a slave inertial navigation system and initialization of navigation information; 2, performing navigation calculation respectively on the master and the slave inertial navigation systems, and transmitting the velocity and attitude information of the master inertial navigation system to a navigation computer of the slave inertial navigation system; 3, in the navigation computer of the slave inertial navigation system, deriving a filter observation model based on a common velocity / attitude matching mode, establishing an observation equation containing time delay, and performing standard discrete Kalman filter iterative calculation; and 4, after filtering is finished, obtaining an estimation value of time delay and estimation values of other state quantities subjected to compensation. The filtering method helps to accurately estimate time delay error and also helps to effectively inhibit influence of time delay on transfer alignment and inertial device error estimate precision.

Description

technical field [0001] The invention relates to a method for estimating and compensating the time delay of an inertial navigation system for transmitting alignment reference information, in particular to a method for estimating and compensating for a time delay for transmitting and aligning based on speed plus attitude matching. It belongs to the field of inertia technology. Background technique [0002] In the transfer alignment process, the sub-inertial navigation uses the main inertial navigation information as the reference information for initial alignment. The reference information obtained by the sub-inertial navigation will have a time delay due to factors such as the asynchronous clock of the main sub-inertial navigation and data transmission and processing. When the time delay exists, the sub-inertial navigation does not estimate and compensate for the time delay, and directly using the received information will affect the alignment accuracy. Therefore, realizing...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 芦佳振谢莉莉杨艳强
Owner BEIHANG UNIV
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