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Inertial/GPS (global positioning system) combined navigation method based on dual quaterions

A dual quaternion, combined navigation technology, applied in navigation, navigation through velocity/acceleration measurement, mapping and navigation, etc., can solve the problems of reduced filtering accuracy, longer convergence time, divergence, etc., to achieve the effect of improving accuracy

Active Publication Date: 2017-05-31
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The error model of the traditional inertial navigation algorithm is usually based on the linear error equation of the mathematical platform misalignment angle, but this model is only suitable for the case where the platform misalignment angle is small. The use of this model will greatly reduce the filtering accuracy, the convergence time will be longer and even cause divergence

Method used

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  • Inertial/GPS (global positioning system) combined navigation method based on dual quaterions
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  • Inertial/GPS (global positioning system) combined navigation method based on dual quaterions

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specific Embodiment approach

[0070] 1. Establish gyro and accelerometer error models

[0071] Gyro error includes constant drift error, first-order Markov process random noise and white noise error. Accelerometer error is modeled as first-order Markov process random noise. The specific error model is as follows:

[0072]

[0073]

[0074] in, is the gyro error, ε b is the gyro constant drift error, ε r is the first-order Markov process random noise of the gyroscope, ω g is white noise; δf B is the accelerometer error, is the first-order Markov process random noise of the accelerometer;

[0075] For the ε in the above formula b , ε r , After derivation, the following mathematical expressions can be obtained:

[0076]

[0077]

[0078]

[0079] in, for ε b The first derivative of ; for ε r The first derivative of ; for The first derivative of ; T g is the first-order Markov process correlation time of the gyroscope, ω r is the first-order Markov process driving white n...

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Abstract

The invention discloses an inertial / GPS (global positioning system) combined navigation method based on dual quaterions, and belongs to the technical field of combined navigation of aircrafts. The method comprises the following steps: first, establishing a gyroscope and accelerometer error model, expanding a gyroscope and accelerometer error as a system state variable, and constructing an inertial / GPS combined Kallman filtering state equation based on dual quaterions; then, in combination with GPS measurement information and calculated values based on a dual-quaterion strapdown inertial navigation algorithm, constructing an inertial / GPS combined Kallman filtering measurement equation based on dual quaterions; and finally, performing discretization treatment on the system state equation and the measurement equation, performing closed loop estimation through Kallman filtering, and correcting thrust velocity dual quaterions, gravity velocity dual quaterions and position dual quaterions in the inertial navigation algorithm to obtain navigation information of a vehicle. According to the method, the inertial navigation resolution error can be corrected by effectively using GPS output information, thereby improving the performance of an inertial navigation system. The method is suitable for engineering applications.

Description

technical field [0001] The invention relates to an inertial / GPS integrated navigation method based on dual quaternions, and belongs to the technical field of aircraft integrated navigation. Background technique [0002] In recent years, with the development of highly dynamic aircraft such as hypersonic aircraft, higher requirements have been placed on the performance of navigation systems. The inertial navigation system has outstanding advantages such as high short-term accuracy, continuous output, and complete autonomy, but its errors will accumulate over time, requiring other navigation methods to assist. [0003] The GPS global positioning system is a high-precision global three-dimensional real-time satellite system. Its global navigation and positioning and high precision make it an advanced navigation device. However, the GPS global positioning system also has some shortcomings. The main reason is that the GPS is easy to lose its signal when it is blocked, and it is e...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/47
CPCG01C21/165G01S19/47
Inventor 闵艳玲熊智邢丽刘建业王融殷德全许建新施丽娟景羿铭万众鲍雪黄欣
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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