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Inertial navigation method and device based on real-time gravity compensation

A technology of real-time compensation and inertial navigation, which is applied in directions such as navigation through speed/acceleration measurement, and can solve problems such as low inertial navigation accuracy

Inactive Publication Date: 2016-05-25
BEIHANG UNIV
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Problems solved by technology

[0005] The present invention provides an inertial navigation method and device 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 and device based on real-time gravity compensation
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  • Inertial navigation method and device based on real-time gravity compensation

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Embodiment Construction

[0024] 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.

[0025] 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:

[0026] Step 101. Receive a navigation request, which includes a moving carrier identifier.

[0027] In this embodiment, the moving carri...

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Abstract

The invention provides an inertial navigation method and device based on real-time gravity compensation. The inertial navigation method comprises the following steps: receiving a navigation request, wherein the navigation request includes a motion carrier identifier; measuring to acquire accelerated speed of a motion carrier corresponding to the motion carrier identifier in an inertial reference system according to the navigation request; establishing a Kalman state equation and a measurement equation of gravity disturbance, and acquiring an optimal estimated value of the gravity disturbance; compensating the accelerated speed according to the optimal estimated value of the gravity disturbance, and carrying out corresponding navigation treatment on the compensated accelerated speed. According to the inertial navigation method based on the real-time gravity compensation, the navigation precision of an inertial navigation system is improved.

Description

technical field [0001] The invention relates to the technical field of moving carrier navigation, in particular to an inertial navigation method and device 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 ...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16
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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