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A Gravity Field Modeling Method Applicable to High Precision Inertial Navigation System

A technology of inertial navigation system and modeling method, which is applied in the field of fast and accurate calculation of three-dimensional gravity vector, can solve problems such as inability to apply inertial navigation system, increased complexity, and is not conducive to real-time calculation of inertial navigation system, and achieves guaranteed calculation. The effect of precision and complexity reduction

Active Publication Date: 2018-06-01
厦门天宇丰荣科技有限公司
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Problems solved by technology

This makes the complexity relatively increased under the condition of ensuring the accuracy of the model, which is not conducive to the real-time solution of the inertial navigation system
Therefore, directly substituting the high-order gravity model for the traditional model cannot be applied to the inertial navigation system
[0011] 2. Calculation timeliness problem
However, the calculation speed of the spherical harmonic model has a quadratic relationship with the model order, that is, every time the model order increases by 10 times, the calculation amount will increase by 100 times, which cannot meet the requirements of the update frequency of the navigation computer.

Method used

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  • A Gravity Field Modeling Method Applicable to High Precision Inertial Navigation System
  • A Gravity Field Modeling Method Applicable to High Precision Inertial Navigation System
  • A Gravity Field Modeling Method Applicable to High Precision Inertial Navigation System

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Embodiment Construction

[0065] The present invention is to provide a gravity field modeling method suitable for high-precision inertial navigation systems. By using projection technology, the gravitational acceleration information of the grid calculated by the spherical harmonic model is mapped to the plane of the cube to make the complex spherical surface The model is transformed into two-dimensional interpolation calculation to realize the fast calculation of the accurate gravity field model, which has the advantage of being suitable for real-time calculation of high-precision inertial navigation system.

[0066] Such as figure 1 Shown, the present invention comprises the following steps:

[0067] Step 1: Refer to the predetermined trajectory of the carrier (longitude range Latitude range [λ 0 ,λ 1 ]), extend the surface of the earth in a plane to obtain a two-dimensional plane S1 whose longitude and latitude ranges are both [0,2π); then rotate the earth 90 degrees as a whole, so that the polar...

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Abstract

The invention discloses a gravity field modeling method suitable for a high-precision inertial navigation system. The problems that according to a traditional inertial navigation system, due to ellipsoid approximation, a normal gravity model is deficient in precision, and a high-order gravity field spherical harmonic model is not suitable for the inertial navigation system are solved. By the utilization of a one-one mapping relation of a gnomonic projection, through the mode that high-precision grid gravity acceleration information obtained through calculation of the spherical harmonic model is mapped to a cubic plane, complex spherical surface model recurrence calculation is converted into two-dimensional plane interpolation calculation, an accurate gravity field model is rapidly calculated, and the method has the advantage of being suitable for real-time resolving of the high-precision inertial navigation system.

Description

technical field [0001] The present invention relates to a gravity model applicable to an inertial navigation device in a long-duration carrier, and in particular to a fast and accurate calculation method for a three-dimensional gravity vector in a high-precision inertial navigation system. Background technique [0002] As a kind of autonomous navigation equipment, inertial navigation system has been widely used in aerospace, aviation, navigation and ground carrier and other fields. With the continuous improvement of the accuracy of inertial devices (gyroscopes, accelerometers), the high-precision pure inertia long-endurance navigation capability has become the development direction of the new generation of inertial navigation systems. In particular, with the development of cold atom technology, the navigation position error caused by inertial devices can be reduced to the meter level per hour, which makes the system-level error the main factor restricting the improvement of ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 杨功流王晶李晶刘元元周潇
Owner 厦门天宇丰荣科技有限公司
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