Double antenna combination inertial navigation device based on self calibration of installation parameters

A technology for installing parameters and inertial navigation devices, which is applied in the field of satellite navigation, can solve the problems of increasing equipment use requirements and difficulty, and achieve the effects of saving calibration costs, improving accuracy and calibration procedures, and improving efficiency

Inactive Publication Date: 2017-08-11
BEIJING SDI SCI & TECH
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Problems solved by technology

It is difficult to directly obtain the accurate installation relationship between the two with a precision of 1cm by using a ruler or optical equipment. It is necessary to design a fine structure to convert the installation relationship, or to accurately replicate the navigation center and axial direction of the IMU through structural parts. Now, the requirements and difficulty of equipment use have been increased

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  • Double antenna combination inertial navigation device based on self calibration of installation parameters
  • Double antenna combination inertial navigation device based on self calibration of installation parameters
  • Double antenna combination inertial navigation device based on self calibration of installation parameters

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Embodiment Construction

[0037] The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

[0038] The dual-antenna combined inertial navigation device based on the self-calibration of installation parameters proposed by the present invention is suitable for the field of navigation position and attitude measurement equipment such as single-antenna or dual-antenna GNSS and INS combined navigation devices, and is used to calculate and configure the installation parameters between the antenna and the IMU autonomously. GNSS / INS integrated navigation system.

[0039] like figure 1 ...

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Abstract

The invention provides a double antenna combination inertial navigation device based on self calibration of installation parameters. The double antenna combination inertial navigation device based on self calibration of installation parameters includes an IMU inertia measuring module, an INS processing module, a GNSS receiver, a combination inertial navigation Kalman filtering calculating module and a power supply module, wherein the combination inertial navigation Kalman filtering calculating module calculates the coordinates of the antenna in the inertial navigation coordinate system according to the following formula, according to the navigation state parameter, the navigation measuring information, the available ephemeris data and the satellite health state. The double antenna combination inertial navigation device based on self calibration of installation parameters can realize on-line calculation of the coordinates of each antenna in the inertial navigation coordinate system when double antenna combination inertial navigation is aligned precisely and dynamically, and has no requirement for special optical equipment as each installation relationship can realize self-calibration, thus improving the efficiency and saving the calibration cost.

Description

technical field [0001] The invention relates to the technical field of satellite navigation, in particular to a dual-antenna combined inertial navigation device with self-calibration based on installation parameters. Background technique [0002] In the high-precision GNSS / INS combined guidance device, it is necessary to correct the drift of the INS through the GNSS measurement data. But GNSS measurements and INS measurements are not the same data. Among them, the GNSS measurement results are the observation information such as the position, velocity, and baseline angle between the two antennas of the GNSS antenna, and the INS measurement results are the position and velocity of the IMU navigation center and the attitude of the INS navigation coordinate system. In order to better realize the correction of INS by GNSS, it is necessary to accurately calibrate the installation relationship between the GNSS antenna and the IMU navigation coordinate system. Secondly, the headin...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47
CPCG01S19/47
Inventor 陈瑶
Owner BEIJING SDI SCI & TECH
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