A method for evaluating the alignment accuracy of an inertial navigation system

An inertial navigation system and alignment accuracy technology, which is applied in the field of inertial navigation systems, can solve problems such as the inability to achieve effective evaluation of azimuth misalignment angles, the lack of accurate evaluation research, and the limitation of azimuth alignment performance, so as to reduce the amount of filtering storage, The effect of reducing the amount of data read and enhancing the robustness

Active Publication Date: 2019-09-06
哈工精密技术(深圳)有限公司
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Problems solved by technology

However, there is no research on the evaluation of alignment accuracy under the condition of large azimuth misalignment angle
In recent years, when the inertial navigation system is aligned under the condition of a real large azimuth misalignment angle, due to the limitation of azimuth alignment performance, the residual attitude misalignment angle after alignment still shows a large azimuth misalignment angle. The actual model of the system is nonlinear, and the effective evaluation of the azimuth misalignment angle cannot be achieved if the existing alignment accuracy evaluation method is applied
On the other hand, the calculation of the fixed interval smoothing algorithm is carried out after the filtering solution, which needs to store a large amount of data, and the calculation efficiency is poor

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  • A method for evaluating the alignment accuracy of an inertial navigation system
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  • A method for evaluating the alignment accuracy of an inertial navigation system

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Embodiment Construction

[0036] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0037] A flow chart of an inertial navigation system alignment accuracy evaluation method proposed by the present invention is attached figure 1 As shown, the main steps of the method are as follows:

[0038] Step 1: Complete the warm-up preparation of the inertial navigation system and the differential GPS system, install the differential GPS receiving antenna and the inertial navigation system on the same base at a short distance, complete the initial alignment of the inertial navigation system, and complete the alignment accuracy in the external computer Initialization of evaluation filters and smoothers;

[0039] Step 2: The inertial navigation system performs navigation calculation, synchronously collects the speed output by the differential GPS, and the eastward speed, northward speed, longitude, latitude, attitude matrix obtained by the inertial navig...

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Abstract

The invention discloses an inertial navigation system alignment accuracy evaluation method. The method comprises the following steps: with differential GPS speed as external reference base, constructing an inertial navigation system alignment accuracy evaluation observation quantity, and performing extended Kalman filter calculation in combination with an inertial navigation system alignment accuracy evaluation nonlinear model; after each extended Kalman filter calculation cycle, inserting the calculation of an extended fixed-interval smoothing gain matrix, and storing the filter data in real time until the filter calculation is over; and performing reverse extended fixed-interval smoothing calculation by use of the stored filter data, and estimating the attitude misalignment angle at the moment when the inertial navigation system alignment is over to realize evaluation of the inertial navigation system alignment accuracy. The method can realize inertial navigation system alignment accuracy evaluation in the conditions of large azimuth misalignment angle and small misalignment angle, and has the advantages of strong robustness, small data storage capacity and high calculation efficiency.

Description

technical field [0001] The invention relates to the field of inertial navigation systems, in particular to an evaluation method for the alignment accuracy of an inertial navigation system with strong robustness. Background technique [0002] The inertial navigation system has high-precision attitude measurement, speed measurement and positioning functions. But as a dead reckoning method, the inertial navigation system must be initially aligned to complete the initialization of the inertial navigation system. The most critical thing in the initial alignment is the attitude alignment, which is to align the calculated coordinate system of the inertial navigation system with the northeast sky coordinate system. The most effective way to measure the alignment performance is to evaluate the alignment accuracy performance and obtain the attitude misalignment angle at the end of the alignment, that is, the attitude deviation angle of the coordinate system calculated by the inertial...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01C21/16
Inventor 陈岱岱杨显清陈焕龙刘华坪马志军李婷婷石丹游志全
Owner 哈工精密技术(深圳)有限公司
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