A method for estimating and compensating lever arm in gnss/ins loose combination

A compensation method and loose combination technology are applied in the field of lever-arm effect estimation and compensation, which can solve the problems of inconvenient measurement of lever-arm effect, and achieve the effect of avoiding navigation errors and improving navigation efficiency.

Active Publication Date: 2020-05-08
NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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Problems solved by technology

[0004] The problem to be solved by the present invention is: aiming at the inconvenience of measuring the lever-arm effect in the GNSS / INS loose integrated navigation system, and the problem that the lever-arm effect is constantly changing during the navigation process and thus affects the navigation accuracy of the integrated navigation system, a method of using the lever-arm As a method for estimating the Kalman filter state quantity, this method does not need to determine the lever arm between the inertial navigation and the satellite navigation antenna in advance, thus avoiding the measurement process of the lever arm before navigation, and can effectively compensate the navigation The problem of real-time changes in the error of the lever arm caused by the vibration of the carrier during the process

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  • A method for estimating and compensating lever arm in gnss/ins loose combination
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  • A method for estimating and compensating lever arm in gnss/ins loose combination

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Embodiment Construction

[0057] Below in conjunction with specific embodiment and accompanying drawing, the present invention will be further described:

[0058] as attached figure 1 As shown, the patent of the present invention mainly includes four steps, as follows:

[0059] Step 1: Establish a Kalman filter model including the lever arm effect. The substeps are as follows:

[0060] 1.1 Select the state vector of the Kalman filter according to the scene of the navigation application. Generally speaking, the more state quantities selected, the more accurately the motion model can be reflected, and the state quantities can be estimated more accurately. In addition, the selection of state quantities is also It depends on the level of inertial navigation used. For example, for low-level MEMS inertial navigation, its scale factor and quadrature axis coupling error are relatively large, and it needs to be considered comprehensively when selecting state quantities. However, with the increase of state qua...

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Abstract

The invention discloses a rod arm estimation and compensation method in GNSS / INS loose integration, and aims at solving the problems that the rod arm effect measurement in a GNSS / INS loose integrationnavigation system is inconvenient; in addition, the rod arm effect is continuously changed in the navigation process, so that the navigation precision of the combined navigation system is influenced.The invention provides a method for performing estimation by using the rod arm as a Kallman filtering state quantity. The method has the advantages that the advanced determination of the rod arm between the inertial navigation and satellite navigation antennas is not needed, so that the measuring process on the rod arm before the navigation is avoided; in addition, the real-time change of the rodarm error due to carrier vibration in the effective navigation process can be effectively compensated.

Description

technical field [0001] The invention relates to the field of GNSS / INS integrated navigation, in particular to a method for estimating and compensating the lever-arm effect caused by misalignment of installation positions between GNSS antennas and INS through a Kalman filter algorithm in a GNSS / INS integrated navigation system. Background technique [0002] When the observation conditions are good, GNSS equipment can work alone to obtain reliable navigation results. However, under harsh observation conditions such as high-rise cities, forests, and canyons, when the number of visible satellites is less than four, GNSS cannot perform navigation calculations. INS has a high information update frequency. After the initialization is completed, it can calculate the position, speed, attitude and other information of the carrier by relying on the angular velocity and specific force information measured by itself. However, due to the influence of error accumulation, the navigation and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20G01S19/49
CPCG01C21/165G01C21/20G01S19/49
Inventor 蔚保国王青江智奇楠刘鹏飞贾瑞才马国驹
Owner NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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