A Unified Inertial Navigation Solution Method

Abstract

The invention provides a unified inertial navigation calculation method which includes the steps: 1 updating calculation of a transformation matrix from an earth-fixed coordinate system to a navigation coordinate system; 2 updating calculation of a transformation matrix from a stationary coordinate system to the navigation coordinate system; 3 updating calculation of a velocity vector of a carrier under the earth-fixed coordinate system; 4 updating calculation of a position vector of the carrier under the earth-fixed coordinate system according to the velocity vector under the earth-fixed coordinate system, and updating the position coordinate of the carrier under a geographic coordinate system according to the velocity vector; 5 repeating the steps 1-4, performing iterative calculation within set inertial measurement time interval to obtain the velocity vector of the carrier under the earth-fixed coordinate system, the position vector of the carrier under the earth-fixed coordinate system and the position coordinate of the carrier under the geographic coordinate system at every moment. A unified navigation equation is given for a strap-down inertial navigation system and a platform-type inertial navigation system, calculated amount is reduced as compared with a traditional calculation method, and the method has wider adaptability.

Description

Technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a unified inertial navigation solution method. Background technique [0002] The inertial coordinate system (i) is always constant relative to the inertial space; the origin of the ground-fixed coordinate system (e) is at the center of the earth, Z e The axis points to the polar axis, X e The axis points to the Greenwich meridian, Y e The axis is determined according to the right-hand rule; the three coordinate axes of the geographic coordinate system (L) point to the three directions of the earth's east, north and sky; the wandering azimuth coordinate system (W) is determined by the geographic coordinate system (L) around its sky axis Z L It is obtained by rotating a wandering angle counterclockwise. The navigation coordinate system (n) is selected according to user monitoring needs, and can be selected as an inertial coordinate system, a ground-fixed coordinate system, a ...

AI Technical Summary

Problems solved by technology

[0004] The traditional solution method does not effectively unify the navigation equations of the platform inertial navigation system and the strapdown inertial navigation system; nor does it effectively unify the navigation equations of various navigation coordinate systems (n), and the navigation solution method is relatively complicated

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