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Long-endurance anti-jamming posture heading calibration method of inertial satellite navigation integrated navigation system

A technology of an integrated navigation system and a calibration method, which is applied in the field of anti-jamming attitude and heading calibration during long voyage, can solve the problems of sudden change, the decline of the navigation information accuracy of the satellite navigation system, and the reduction of the navigation accuracy of the integrated navigation system, so as to achieve the effect of accurate and reliable estimation.

Inactive Publication Date: 2018-06-01
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

[0003] In a complex working environment, the satellite navigation system is susceptible to various environmental interferences, which will cause the navigation information accuracy of the satellite navigation system to decrease or cause faults such as mutations. Greatly reduce the navigation accuracy of the integrated navigation system

Method used

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  • Long-endurance anti-jamming posture heading calibration method of inertial satellite navigation integrated navigation system
  • Long-endurance anti-jamming posture heading calibration method of inertial satellite navigation integrated navigation system
  • Long-endurance anti-jamming posture heading calibration method of inertial satellite navigation integrated navigation system

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Embodiment Construction

[0023] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0024] A long-endurance anti-interference attitude and heading calibration method for an inertial satellite navigation integrated navigation system. The strapdown inertial navigation system is composed of three gyroscopes and three accelerometers, and the inertial navigation solution is used to output attitude, heading, speed and position information. . The position information of the satellite positioning and navigation system is used as the reference information, and the data is fused with the position information of the inertial navigation system. The error state is estimated and calibrated online. Specifically include the following steps:

[0025] Step 1. In the strapdown inertial navigation system, the inertial navigation solution is performed to output attitude heading, speed and position information and update them.

[0026] In this s...

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Abstract

The invention relates to a long-endurance anti-jamming posture heading calibration method of an inertial satellite navigation integrated navigation system. The long-endurance anti-jamming posture heading calibration method is characterized in that in an inertial navigation system, inertial navigation resolving is performed to output posture heading, speed and position information; updating is performed; the position information of the satellite positioning navigation system is used as reference information; data fusion is performed with the position information of the inertial navigation system; according to fusion strategies, a mathematical model is determined according to the error spreading rule of the inertial navigation system; a kalman filter is used for performing online estimationand calibration on the error state of the navigation information of the inertial navigation system. The design is reasonable; the kalman filter is used for performing combined filtering on the navigation information of the inertial navigation system and the navigation information of the satellite navigation system; the optimum aerial carrier navigation information is obtained; in the severe environment, the fault of the satellite navigation system is subjected to diagnosis isolation; the posture angle error calibration problem of the inertial navigation system under the long-time work conditions can be solved; the accuracy and reliability of the posture angle error estimation can be ensured.

Description

technical field [0001] The invention belongs to the technical field of inertial satellite navigation integrated navigation, in particular to a long-endurance anti-interference attitude heading calibration method of an inertial satellite navigation integrated navigation system. Background technique [0002] The long-endurance UAV's long-term airborne characteristics require the accuracy and stability of its navigation system to be very high. In response to this requirement, the inertial satellite navigation system is generally used as the navigation system of the long-endurance UAV. The inertial navigation system has the advantages of high autonomy, strong anti-interference ability, and high real-time output, but has the disadvantages of error accumulation over time and high price. The satellite navigation system has the advantages of high positioning accuracy, error does not diverge with time, and low price, but it also has disadvantages such as poor real-time output and sus...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 赵圆董洁于风光
Owner TIANJIN NAVIGATION INSTR RES INST
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