Integrated navigation data calculation method, device and navigation equipment for observation time-delay system
A technology for data calculation and navigation data, applied in the field of navigation, can solve the problems such as the inability of time synchronization between GNSS data and INS data, affecting the accuracy of integrated navigation and navigation, and large transmission delay.
Active Publication Date: 2020-06-26
XFUSION DIGITAL TECH CO LTD
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Problems solved by technology
[0005] In order to solve the RTK mode in related technologies, there is a large transmission delay when GNSS data is transmitted through the radio station or network, but there is no transmission delay for INS data, resulting in a large difference in the receiving time between the GNSS data collected at the same time and the INS data. As a result, when performing navigation data combination calculation, GNSS data and INS data cannot be time-synchronized, which seriously affects the navigation accuracy of integrated navigation. Embodiments of the present invention provide a method and device for calculating combined navigation data of an observation time-delay system and navigation equipment
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[0041] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0042] The INS is a navigation system that uses an angular velocity sensor and an acceleration sensor for navigation. In the working state, INS integrates the acceleration data collected by the acceleration sensor to determine the current traveling speed of the object; integrates the angular velocity data collected by the angular velocity sensor to determine the current attitude of the object, and then draws a graph based on the real-time traveling speed and attitude. The trajectory of the object, and navigate according to the trajectory. Compared with other types of navigation systems, INS collects data at a higher frequency (usually 100Hz or 200Hz), and the collected data is comprehensive and autonomous; however, in the case of long-...
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The invention discloses a combined navigation data calculation method, device and navigation equipment of an observation time-delay system, belonging to the technical field of navigation. The method includes: storing the predicted state error covariance matrix at time k and the first navigation data at time k obtained by INS solution; The second navigation data, the first navigation data and the prediction error covariance matrix are combined to update the solution; according to the cumulative state transition matrix and the combined update solution result, the estimated value of the predicted state parameter and the predicted state error covariance matrix at j time are calculated, j The moment is the moment when the combined update calculation is completed; the estimated value of the predicted state parameter at j time is corrected according to the combined update calculated result at the previous moment; according to the corrected estimated value of the predicted state parameter at j The error covariance matrix corrects the INS error at time j.
Description
technical field [0001] The invention relates to the technical field of navigation, in particular to a combined navigation data calculation method, device and navigation equipment for an observation time-delay system. Background technique [0002] With the continuous development of navigation technology, it is difficult for a single navigation system to meet the user's requirements for navigation accuracy. Therefore, a combined navigation technology that combines at least two navigation systems is born. [0003] In the related art, the integrated navigation technology is applied in a global navigation satellite system / inertial navigation system (Global Navigation Satellite System / Inertial Navigation System, GNSS / INS) integrated navigation system. Compared with a single navigation system, the GNSS / INS integrated navigation system uses GNSS to overcome the problem of accumulation of navigation errors over time in the INS while maintaining the comprehensiveness and autonomy of t...
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IPC IPC(8): G01S19/49G01C21/16G01C21/20
CPCG01C21/165G01C21/20G01S19/49G01C21/188
Inventor 张全牛小骥付立鼎
Owner XFUSION DIGITAL TECH CO LTD