Unlock instant, AI-driven research and patent intelligence for your innovation.

A Method of Inertial Navigation Error Estimation Based on Inertial Navigation/dvl/usbl Combination

An error estimation and error technology, applied in the field of inertial navigation error estimation based on inertial navigation/DVL/USBL combination, to achieve high environmental adaptability and low cumulative position error

Active Publication Date: 2021-03-16
BEIJING AUTOMATION CONTROL EQUIP INST
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There is no inertial navigation error estimation method based on the combination of inertial navigation / DVL / USBL in the prior art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Method of Inertial Navigation Error Estimation Based on Inertial Navigation/dvl/usbl Combination
  • A Method of Inertial Navigation Error Estimation Based on Inertial Navigation/dvl/usbl Combination
  • A Method of Inertial Navigation Error Estimation Based on Inertial Navigation/dvl/usbl Combination

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] The present invention is described in further detail below in conjunction with embodiment.

[0030] An inertial navigation / DVL / USBL combined navigation structure provided by the present invention includes inertial navigation, DVL, USBL, sub-filter 1, sub-filter 2 and main filter.

[0031] Inertial navigation: An inertial navigation system composed of gyroscopes, accelerometers, and navigation computers that can realize autonomous navigation. Through the navigation calculation of its navigation computer, the navigation information such as the position, speed and attitude of the inertial navigation can be given.

[0032] DVL: Doppler Velocity Log, Doppler Velocity Log. The velocity of the DVL relative to the bottom is measured by the Doppler effect.

[0033] USBL: Ultra Short Baseline, ultra-short baseline positioning system. The baseline is formed by the USBL body and the transponder, and the position of the transponder is known precisely. Then the USBL body can calcu...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The present invention belongs to an inertial navigation technology, and specifically discloses an inertial navigation error estimation method based on inertial navigation / DVL / USBL combination. The inertial navigation error estimation method comprises: synchronously collecting the position and the velocity of inertial navigation, the velocity of DVL, the position of USBL, and other test data; designing three filters achieved through classical Kalman filter, and matching, wherein inertial navigation / DVL combination is achieved by using a sub-filter 1, and inertial navigation / USBL combination is achieved by using a sub-filter 2; and obtaining the high-precision estimation of the inertial navigation error by using a main filter. With the inertial navigation error estimation method of the present invention, the inertial navigation error estimation method with characteristics of high environmental adaptability and low position cumulative error is achieved.

Description

technical field [0001] The invention belongs to inertial navigation technology, in particular to an inertial navigation error estimation method based on the combination of inertial navigation / DVL / USBL. Background technique [0002] Inertial navigation / DVL combination can realize long-distance integrated navigation, but the position error accumulates. The combination of inertial navigation and USBL can realize integrated navigation without accumulating position errors. However, due to the limitation of the range of USBL, it is difficult to realize long-distance integrated navigation, and generally it can only work in specific waters. The combination of inertial navigation / DVL / USBL can realize complementary advantages and improve the working adaptability of the whole system. There is no inertial navigation error estimation method based on the combination of inertial navigation / DVL / USBL in the prior art. Contents of the invention [0003] The purpose of the present inventio...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/165G01C25/005
Inventor 林翰周东灵徐兴华刘崇亮扈光锋曲雪云刘垒李文耀
Owner BEIJING AUTOMATION CONTROL EQUIP INST