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Velocity aiding based gyroscopic drift correction method of inertial navigation system

A technology of inertial navigation system and gyro drift, applied in the field of gyro drift correction based on speed-assisted inertial navigation system, can solve the problems of inapplicability, the efficiency of comprehensive correction methods not involved, and the difficulty of obtaining external position information of satellite navigation systems, etc. To achieve the effect of ensuring security and privacy, improving accuracy and efficiency

Active Publication Date: 2016-11-16
HARBIN ENG UNIV
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Problems solved by technology

[0005] The above method does not involve the efficiency of the comprehensive correction method, and does not use speed information to perform comprehensive correction on the inertial navigation system. For some underwater vehicles, the external position information of the satellite navigation system is difficult to obtain, so the above method is not applicable

Method used

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  • Velocity aiding based gyroscopic drift correction method of inertial navigation system
  • Velocity aiding based gyroscopic drift correction method of inertial navigation system
  • Velocity aiding based gyroscopic drift correction method of inertial navigation system

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] 1. The carrier is preheated and initially aligned in the dock mooring state. After the initial alignment state is over, the carrier leaves the dock and enters the sailing state, and the navigation computer starts to calculate the sailing time t.

[0027] 2. After the carrier has been running for a period of time, if the inertial navigation system meets the conditions of constant speed and direct flight within 10 minutes, record this time as t 1 .

[0028] 3. Obtain reference external speed information according to the ground speed measurement signal of an external auxiliary measurement device such as a Doppler log (DVL).

[0029] 4. At t 1 At time, the current ground speed information is obtained according to the external auxiliary equipment Doppler log and project it into a geographic coordinate system:

[0030] v D ...

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Abstract

The invention belongs to the technical field of inertial navigation systems and in particular relates to a velocity aiding based gyroscopic drift correction method of an inertial navigation system, which is used for carrying out gyroscopic drift correction by utilizing velocity information aiding in long-time navigation. The velocity aiding based gyroscopic drift correction method comprises the following steps: pre-heating the inertial navigation system, starting to enter a navigation state after initial alignment early-stage work; after a period of time, recording a moment as t1 when the inertial navigation system reaches the condition of constant-speed direct navigation being kept within 10 minutes; obtaining referred external velocity information according to a ground-toward velocity measuring signal of an external aided measurement device, such as a Doppler velocity log; projecting the obtained external velocity information to a geographic coordinate system and the like. By establishing a relational expression between velocity error information and gyroscopic drift, the gyroscopic drift of the inertial navigation system can be estimated and revised by only utilizing the velocity information, so that the precision and the efficiency of the inertial navigation system are improved and the safety and the privacy of a carrier are guaranteed.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation systems, and in particular relates to a speed-assisted inertial navigation system gyro drift correction method for gyro drift correction using speed information for long-time navigation. Background technique [0002] If the inertial navigation system works for a long time without correction, the navigation accuracy of the system will decrease due to the accumulation of gyro drift errors. In order to ensure that the inertial navigation system can work effectively for a long time, it is necessary to introduce external information to conduct comprehensive corrections to the system regularly or irregularly, so that errors such as position, attitude, and heading are corrected. At the same time, the gyro drift is estimated and corrected in the system. It compensates to limit the error of the inertial navigation system, improving the accuracy of the inertial navigation system. [0003] In th...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 奔粤阳吴志洁臧新乐袁国斌赵涛刘星宇张强黄磊
Owner HARBIN ENG UNIV
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