Inertia/satellite super-tight combination realization method
A technology of ultra-tight combination and implementation method, which is applied in satellite radio beacon positioning systems, measurement devices, instruments, etc., and can solve problems such as troubleshooting of unfavorable problems, high complexity, and receiver extraction effects.
Active Publication Date: 2016-11-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0004] The ultra-tight combination requires the two-way assistance of inertial information and satellite information. It is necessary to disconnect the original receiver loop and construct a large closed loop including inertial navigation and combined filtering. The complexity of its implementation is relatively high; and the control of the receiver It interacts with the extraction of observations, which is not conducive to the troubleshooting of problems during the system construction process
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[0034] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0035] The present invention provides a method for implementing an inertial / satellite ultra-tight combination such as figure 1 As shown, the idea of step-by-step implementation is adopted to simplify the complexity of the ultra-tight combination implementation. On the basis of the inertial / satellite tight combination implementation method, the satellite receiver positioning and velocity determination results are used to generate local loop control variables to verify The correctness of the control quantity generation scheme; use the inertial navigation results with normal divergence of errors to perform local loop control to obtain effective combined observations; fina...
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The invention discloses an inertia / satellite super-tight combination realization method, which adopts an idea of step-by-step implementation, and simplifies complexity of super-tight combination realization. The method is characterized by, one the basis of the inertia / satellite super-tight combination realization method, carrying out generation of local loop control quantity by utilizing positioning and speed results of a satellite receiver to verify correctness of the control quantity generation scheme; carrying out local loop control by utilizing an error-properly-divergent inertial navigation result to obtain effective combination observation quantity; and finally, carrying out combined filtering estimation and correction, and finishing construction of a super-tight combination system. The method effectively simplifies complexity of super-tight combination realization and realizes deep fusion of a satellite navigation system and an inertial navigation system, and is suitable for combination of a plurality of satellite navigation systems, such as GPS and Beidou, as well as a multi-frequency multi-system satellite navigation system and the inertial navigation system.
Description
technical field [0001] The invention relates to an inertial / satellite ultra-tight combination realization method, which belongs to the technical field of combined navigation methods. Background technique [0002] Inertial navigation system and satellite navigation system have good complementarity. The construction of inertial / satellite integrated navigation system can realize all-day and all-weather high-precision continuous navigation around the world. It is the main development of navigation technology in recent years and for a long period of time in the future The direction is the main technical means to solve the navigation problems of aviation, aerospace, land, water surface, underwater and other weapon equipment systems, and has important application value in the fields of national defense and civilian use. [0003] In recent years, driven by navigation requirements such as high dynamic environment adaptability, anti-interference, and high precision, the information fu...
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IPC IPC(8): G01S19/47
CPCG01S19/47
Inventor 李荣冰韩志凤刘建业曾庆化高关根沈飞周颖
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS