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Inertial navigation data and satellite navigation data synchronizing method

A technology of inertial navigation and satellite navigation, which is applied in the field of synchronization of inertial navigation data and satellite navigation data, can solve problems such as data time asynchrony, and achieve the effects of improved accuracy, high calculation efficiency, and simple algorithms

Active Publication Date: 2017-06-09
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST +1
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Problems solved by technology

However, in actual engineering, the inertial navigation and satellite navigation time references are different, and there will be a problem of data time asynchrony. It is necessary to use the data synchronization method to complete the data synchronization between the inertial navigation system and the satellite navigation system, and to obtain the inertial navigation data at the second pulse time of the satellite navigation system.

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  • Inertial navigation data and satellite navigation data synchronizing method
  • Inertial navigation data and satellite navigation data synchronizing method
  • Inertial navigation data and satellite navigation data synchronizing method

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Embodiment Construction

[0031] The method for synchronizing inertial navigation data and satellite navigation data of the present invention comprises the following steps:

[0032] (1) Obtain inertial navigation data and satellite navigation data

[0033] Such as figure 1 As shown, t is the sending time of the second pulse of satellite navigation, which is not consistent with the inertial navigation time, and is located between the two inertial navigation times, which leads to the inconsistency of the navigation data used in the subsequent filtering, resulting in a large error, so using two Inertial navigation data at the second pulse transmission time is obtained by conversion of the data at each inertial navigation moment, which is used for subsequent filtering calculations.

[0034] The inertial navigation software sends inertial navigation data to the composite navigation software at intervals of 20ms. t 1 The moment inertial navigation data is: the speed is V x_t1 , V y_t1 , V z_t1 , at pos...

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Abstract

The invention relates to an inertial navigation data and satellite navigation data synchronizing method. The method comprises the following steps: acquiring inertial navigation data and satellite navigation data; extracting pulse time t per second of satellite navigation; extracting inertial navigation data of two time points t1 and t2 before and after the pulse time t per second of satellite navigation; calculating the interval time tGPS (tGPS=t2-t) between the pulse time t per second of satellite navigation and t2; calculating the proportionality coefficient Kr which is shown in the description, wherein T is the tie interval between the two time points t1 and t2; calculating the inertial navigation position parameter and the speed parameter of the time t; and calculating the inertial navigation posture quaternion of the time t. According to the method, the data of the two inertial navigation times are converted to obtain the inertial navigation data of the pulse sending time per second, so that the inertial navigation data and the satellite navigation data can be synchronized, and as a result, the data treatment accuracy can be improved.

Description

technical field [0001] The invention relates to a method for synchronizing inertial navigation data and satellite navigation data, belonging to the field of data synchronization. Background technique [0002] During the flight, due to the drift of the inertial components of the carrier, the inertial navigation error accumulates over time, and the long-term working error is relatively large, while the error of the satellite navigation system does not accumulate over time. Therefore, using the satellite navigation system to correct the inertial navigation error can improve the navigation control accuracy . However, in actual engineering, the inertial navigation and satellite navigation time references are different, and there will be a problem of data time asynchrony. It is necessary to use the data synchronization method to complete the data synchronization between the inertial navigation system and the satellite navigation system, and obtain the inertial navigation data at t...

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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 徐帆李学锋尚腾曹洁王辉张宇王会霞吴骁
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST