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Inertial navigation method based on real-time gravity compensation

A real-time compensation, inertial navigation technology, applied in the direction of navigation, measuring devices, instruments, etc. through speed/acceleration measurement, which can solve the problems of low inertial navigation accuracy and so on

Inactive Publication Date: 2016-01-20
BEIHANG UNIV
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Problems solved by technology

[0005] The present invention provides an inertial navigation method based on gravity real-time compensation, which is used to solve the problem of low inertial navigation accuracy in the prior art

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  • Inertial navigation method based on real-time gravity compensation
  • Inertial navigation method based on real-time gravity compensation
  • Inertial navigation method based on real-time gravity compensation

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Embodiment Construction

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0023] figure 1 The flow chart of Embodiment 1 of the inertial navigation method based on gravity real-time compensation provided by the present invention, as shown in figure 1 As shown, the method includes:

[0024] Step 101. Receive a navigation request, which includes a moving carrier identifier.

[0025] In this embodiment, the moving carri...

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Abstract

The invention provides an inertial navigation method based on real-time gravity compensation. The inertial navigation method based on real-time gravity compensation comprises the steps that a navigation request is received; the accelerated speed of a moving carrier corresponding to a moving carrier identification in an inertial reference system is measured and obtained according to the navigation request, and a geographical coordinate of the position the moving carrier is located at the current moment is obtained; a projection point of the geographical coordinate of the position the moving carrier is located on the ground level plane is obtained and is used as a point to be interpolated; N interpolating points are selected from the ground level plane according to the point to be interpolated; the gravitational acceleration of the point to be interpolated is interpolated according to the gravitational accelerations corresponding to the N interpolating points; the gravitational acceleration of the position the moving carrier is located is obtained according to the gravitational acceleration of the point to be interpolated, the measured and obtained acceleration of the moving carrier is compensated, and corresponding navigation processing is performed according to the compensated acceleration. The navigation accuracy of the inertial reference system is improved by means of the inertial navigation method.

Description

technical field [0001] The invention relates to the technical field of moving carrier navigation, in particular to an inertial navigation method based on gravity real-time compensation. Background technique [0002] The inertial navigation system (Inertial Navigation System, INS for short), also known as the inertial reference system, is an autonomous navigation system that does not depend on external information or radiate energy to the outside. Its working environment includes not only the air, the ground, but also underwater. The basic working principle of INS is based on Newton's laws of mechanics. By measuring the acceleration of the moving carrier in the inertial reference system, integrating the acceleration with time, and transforming the integral result of the acceleration into the navigation coordinate system, the Information such as speed, yaw angle and position in the navigation coordinate system, therefore, the measurement of the acceleration of the moving carr...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 杨功流周潇王晶史俊蒋杰王丽芬蔡庆中
Owner BEIHANG UNIV
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