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Combination navigation method and combination navigation system based on INS assisted GNSS single antenna attitude measurement

A combined navigation and combined filtering technology, applied in the field of navigation, can solve the problems of poor attitude observability, unsatisfactory estimation effect, and poor accuracy.

Inactive Publication Date: 2016-03-02
SPACE STAR TECH CO LTD
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Problems solved by technology

The invention discloses an integrated navigation method and system. The invention solves the problem of poor attitude observability, unsatisfactory estimation effect and poor accuracy of GNSS single antenna attitude measurement at low speed in the conventional INS / GNSS integrated navigation system. problem, improving attitude observability and estimation accuracy

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  • Combination navigation method and combination navigation system based on INS assisted GNSS single antenna attitude measurement
  • Combination navigation method and combination navigation system based on INS assisted GNSS single antenna attitude measurement
  • Combination navigation method and combination navigation system based on INS assisted GNSS single antenna attitude measurement

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[0069] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the technical solutions of the present invention. Some, but not all, embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0070] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0071] figure 1 It is a schematic diagram of the first embodiment of the integrated navigation system based on INS-assisted GNSS single-antenna attitude measurement in the ...

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Abstract

The present invention discloses a combination navigation method, which comprises: acquiring an attitude measurement value in a first speed interval range by using a first combination filtering, wherein the first combination filtering is the INS / GNSS combination filtering with an observation equation containing the INS and GNSS attitude angle measurement difference; acquiring an attitude measurement value in a second speed interval range by using a second combination filtering and an added attitude filtering, wherein the second combination filtering is the INS / GNSS combination filtering being not contain the INS and GNSS attitude angle measurement difference, and the added attitude filtering is used for carrying out attitude filtering on the filtering result of the second combination filtering; and acquiring an attitude measurement value in a third speed interval range by using the second combination filtering. The invention further discloses a combination navigation system. With the method and the system of the present invention, the attitude observability and the estimation precision are improved.

Description

technical field [0001] The invention relates to the field of navigation, in particular to an integrated navigation method and system based on INS-assisted GNSS single-antenna attitude measurement. Background technique [0002] Conventional INS / GNSS integrated navigation, the state variable includes two parts, one part is the error state of the inertial navigation system (INS), including attitude, speed, position, and sensor zero offset, a total of 15 dimensions, and its state equation is: [0003] X I · ( t ) = F I ( t ) X I ( t ) + Γ I ( t ) W I ( ...

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Application Information

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IPC IPC(8): G01C21/00G01S19/47
Inventor 刘骁车欢汪大宝李东俊张春水王烁李兴国赵士栋钟海波
Owner SPACE STAR TECH CO LTD
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