Asynchronous data fusion method for monitoring navigation system based on time slice segmenting

A technology for subdividing time slices and navigation systems, applied in the field of monitoring and navigation, can solve problems affecting the accuracy of monitoring and navigation systems, achieve the effects of improving accuracy, improving positioning accuracy, and suppressing the impact of system accuracy

Active Publication Date: 2018-05-08
HARBIN INST OF TECH
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Problems solved by technology

However, in this monitoring and navigation system, due to the difference in the inherent data update rate and propagation delay between the cold atom interference gyroscope and the fiber optic gyroscope, the two information sources are asynchronous, which affects the accuracy of the monitoring and navigation system.

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  • Asynchronous data fusion method for monitoring navigation system based on time slice segmenting
  • Asynchronous data fusion method for monitoring navigation system based on time slice segmenting
  • Asynchronous data fusion method for monitoring navigation system based on time slice segmenting

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Embodiment Construction

[0032] The present invention will be described in detail below in conjunction with specific implementation examples.

[0033] The present invention provides an asynchronous data fusion method based on subdivided time slice cold atom interference gyroscope / optical fiber gyroscope monitoring and navigation system, the schematic diagram of the method is as follows figure 1 shown. The object of the present invention is achieved through the following steps:

[0034] 1. Fix the cold atom interference gyroscope / fiber optic gyroscope monitoring and navigation system on the ship, fully warm up the cold atom interference gyroscope / fiber optic gyroscope monitoring and navigation system, start working, and collect the sensing data of each sensor ;

[0035] 2. Fully consider the nonlinear characteristics of the actual system, take the fiber optic gyro inertial navigation system as the main system, and establish the nonlinear state equation of the cold atom interference gyroscope / fiber op...

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Abstract

The invention discloses an asynchronous data fusion method for a monitoring navigation system based on a cold atom interference gyroscope / optical fiber gyroscope. The method comprises the following steps: firstly, establishing a nonlinear filtering model of a monitoring navigation system based on a cold atom interference gyroscope / optical fiber gyroscope, estimating the state of the system throughvolume Kalman filtering, and eliminating influence of the nonlinear property of the system to positioning errors of the monitoring navigation system; secondly, increasing the utilization rate of multi-sensor information by using a time slice segmenting method. Therefore, the autonomous navigation precision and reliability of a warship are remarkably improved, and the external readjustment time interval of an inertial navigation system of the warship is prolonged.

Description

technical field [0001] What the present invention designs is a kind of monitoring and navigating method, more precisely, is to use subdivided time slice method to deal with the problem that two kinds of gyroscope data are not synchronized in cold atom interference gyroscope / fiber optic gyroscope monitoring and navigating system, thereby improve the inertia A navigation method of the positioning accuracy of the navigation system. Background technique [0002] In ship navigation, inertial navigation plays an important role. As a fully autonomous navigation and positioning technology, it has the advantages of all-weather, good concealment, not easy to be interfered, and strong survivability. The inertial navigation system (Inertial Navigation System, INS) relies on the inertial components (gyroscope and accelerometer) to detect the motion state of the carrier in real time, and outputs the navigation information such as the speed, position and attitude of the carrier through na...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 张亚王国臣王岩岩于飞王凯赵桂玲
Owner HARBIN INST OF TECH
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