Dual quaterion inertia/astronomy combined navigation method based on gyroscope error correction

A dual quaternion, combined navigation technology, used in astronomical navigation, navigation through velocity/acceleration measurement, measurement devices, etc., can solve the problems of increasing computer computing burden, poor real-time performance, and high dimension of the navigation system, reducing computing power. Quantity, improve accuracy, high precision effect

Inactive Publication Date: 2017-08-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The existing inertial/astronomical integrated navigation system based on dual quaternion has high dimensionality, which increases the calculation burden of the computer

Method used

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  • Dual quaterion inertia/astronomy combined navigation method based on gyroscope error correction
  • Dual quaterion inertia/astronomy combined navigation method based on gyroscope error correction
  • Dual quaterion inertia/astronomy combined navigation method based on gyroscope error correction

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specific Embodiment approach

[0076] 1. Establish the state equation of the dual quaternion inertial / astronomical integrated navigation system

[0077] (1.1) Gyro and accelerometer error modeling

[0078] Gyro error and accelerometer error include constant error and Gaussian white noise random error, and the error model can be regarded as a linear model composed of various error sources, so the gyro and accelerometer error model is:

[0079]

[0080] In formula (1), is the gyro error, is the gyro constant drift error, is the gyro Gaussian white noise; δf B is the accelerometer error, is the accelerometer constant error, is acceleration white Gaussian noise.

[0081] (1.2) State equation of integrated navigation system based on gyroscope and accelerometer error model

[0082] The constant error of the gyroscope and accelerometer is extended to the system state quantity, thus the state equation of the dual quaternion inertial / astronomical integrated navigation system is obtained:

[0083]

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Abstract

The invention discloses a dual quaterion inertia/astronomy combined navigation method based on gyroscope error correction, and belongs to the technical field of aircraft combined navigation. According to the method, a gyroscope/accelerometer error model is set up firstly; then gyroscope and accelerometer errors are extended into a system state quantity, and an inertia/astronomy combined navigation state equation and a measurement equation based on dual quaterion are set up, and an observability degree analysis method based on singular value decomposition is adopted for carrying out dimension reduction processing on a system; finally, a Kalman filtering method is adopted for carrying out open loop estimation on all state quantities, and the estimated value is utilized for carrying out online correction on gyroscope original output. According to the method, navigation precision is guaranteed, meanwhile, the real-time performance of the combined navigation system is improved, an inertial navigation system can still keep high precision within a period of time under the condition that astronomical sensor information is lost, and therefore the performance of the inertial navigation system is improved.

Description

technical field [0001] The invention relates to a dual quaternion inertial / astronomical combined navigation method based on gyro error correction, and belongs to the technical field of aircraft combined navigation. Background technique [0002] In recent years, with the development of hypersonic vehicles, aerospace vehicles and other high-dynamic vehicles, the performance of navigation systems is facing greater challenges. Due to the existence of errors such as gyro drift, the navigation error of the pure inertial navigation system will diverge with time, so an external information source whose error does not increase with time is needed to correct it. The celestial navigation system uses astronomical sensors to observe celestial bodies, and calculates the attitude of the carrier according to the azimuth information of the celestial bodies. Its accuracy can reach the arc-second level, and it has the advantages of strong autonomy, high measurement accuracy, good concealment, ...

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Application Information

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IPC IPC(8): G01C21/18G01C21/02G01C25/00
CPCG01C21/18G01C21/02G01C25/005
Inventor 闵艳玲熊智邢丽刘建业殷德全王融施丽娟许建新景羿铭万众鲍雪黄欣
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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