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An Estimation and Compensation Method for Initial Reference of Inertial Navigation

An inertial navigation and compensation method technology, applied in the field of inertial navigation systems, can solve problems such as large errors, and achieve the effects of eliminating speed and position errors, improving calculation accuracy, and eliminating initial attitude errors.

Inactive Publication Date: 2019-05-28
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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Problems solved by technology

[0003] The purpose of the present invention is to provide a method for estimating and compensating the initial reference of inertial navigation, which is applicable to the selection of aircraft navigation and guidance schemes with constraints on the attitude angle error in the inertial / satellite integrated navigation system, and solves the problem that the initial alignment error of inertial navigation is relatively large. In the case of large, the problem of correcting the attitude angle

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  • An Estimation and Compensation Method for Initial Reference of Inertial Navigation
  • An Estimation and Compensation Method for Initial Reference of Inertial Navigation
  • An Estimation and Compensation Method for Initial Reference of Inertial Navigation

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[0057] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples.

[0058] The principle of the present invention is as follows. According to the position and speed information provided by the satellite navigation and the position and speed information calculated by the inertial navigation, the present invention adopts the method of Kalman filter to estimate the initial reference error of the inertial navigation, and adopts the method of program angle and attitude adjustment in combination with the attitude control requirements when correcting. The attitude angle is corrected, and the speed and position are corrected at the same time.

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings. figure 1 A flow chart of a method for estimating and compensating a...

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Abstract

The invention discloses an estimation and compensation method of an inertial navigation initial benchmark. The estimation and compensation method has the advantages that inertial navigation initial benchmark errors are estimated through the position and speed information provided by satellite navigation and the position and speed information obtained by inertial navigation calculation and by using a Kalman filtering manner, attitude angles are corrected according to attitude control requirements and by using program angle attitude regulating, speed and positions are corrected at the same time, attitude angle calculation precision is increased, and guidance and terminal guidance shift accuracy is increased.

Description

technical field [0001] The invention relates to the field of inertial navigation systems, in particular to an estimation and compensation method for an initial reference of inertial navigation. Background technique [0002] Before officially starting the navigation work, the inertial navigation system needs to know some initial conditions, such as initial attitude, initial velocity, and initial position; usually, the initial velocity and initial position are easy to obtain, and the initial attitude angles in the horizontal two directions in the initial attitude are determined by the Alignment is relatively easy to obtain, but it takes a long time to obtain the heading angle through self-alignment or external aiming and other auxiliary systems are required; if it is required to achieve rapidity, the error of the initial value of the heading angle will be relatively large, This will lead to the rapid accumulation of inertial navigation errors, resulting in low navigation speed...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/16G01C25/005
Inventor 周峰周姜滨张华明刘海亮路坤锋郑春胜禹春竹
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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