Astronomical aided inertial/BeiDou tightly integrated navigation system and navigation method

Abstract

The invention discloses an astronomical aided inertial / BeiDou tightly integrated navigation system. An inertial element, a Beidou receiver and a star sensor send data into a navigation computer module, and the navigation computer module processes the data and then sends a navigation calculation result to a host machine display module to display. The invention also discloses an astronomical aided inertial / BeiDou tightly integrated navigation method. The method comprises a step of calculating a speed and a position, and using quaternion to describe the pose motion of a carrier, a step of establishing an astronomical aided navigation system state equation, a step of establishing the measurement equation of each sub system according to different working characteristics of each navigation system, and a step of constructing an adaptive Calman filter according to visible stars and the geometrical configuration of the visible stars, and thus correcting the navigation error of an inertial navigation system. According to the technical scheme, the sub system calculation and information fusion processing of an inertial / astronomical / BeiDou integrated navigation system can be effectively realized in real time, and a navigation result with high accuracy and high reliability is obtained.

Description

technical field [0001] The invention belongs to the technical field of aircraft integrated navigation, and in particular relates to an astronomically assisted inertial / Beidou integrated navigation system and a navigation method thereof. Background technique [0002] At present, the GPS in the United States is the most widely used satellite navigation system, and the satellite navigation system plays an extremely important role in the country's national defense and economy. The dominance of the GPS system is in the hands of the United States, which poses a certain threat to my country's national defense security. Therefore, the development of the domestic Beidou navigation system is an inevitable trend. Since my country's Beidou navigation system is still in the development stage, there are few visible satellites, and satellite signals are easily affected by terrain, buildings, etc., and are also vulnerable to electromagnetic interference and lose their function. Therefore, t...

AI Technical Summary

Problems solved by technology

In the information fusion process of inertial, astronomical, and Beidou integrated navigation systems, the Kalman filter method is mainly adopted. The setting of system parameters has a great impact on the entire system. Inaccurate parameter setting not only affects the accuracy of the system, but also easily causing the entire system to diverge until it collapses

In view of the dynamic changes in the measurement information quality of the Beidou navigation system, the adaptive filtering method of the astronomically assisted inertial / Beidou tight integrated navigation system needs to be further studied

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