Multi-node information fusion method and system of airborne distributed POS (Position and Orientation System)

Abstract

The invention provides a multi-node information fusion method and system of an airborne distributed POS (Position and Orientation System). The method comprises the following steps: establishing a transfer alignment error model; aiming at each sub-IMU (Inertial Measurement Unit), calculating the difference between a posture of a main POS represented by a navigation coordinate system of the sub-IMUand the posture of the sub-IMU, and the difference between the speed of the main POS and the speed of the sub-IMU and establishing a mathematical model of transfer alignment of the sub-IMU; carrying out the transfer alignment on the mathematical model of the transfer alignment of the sub-IMU, and determining a posture error, a speed error and a position error and obtaining a mounting error angle,a deflection deformation angle and a deflection deformation angle speed; revising a strapdown solving result of the sub-IMU to obtain a revised position, a revised speed and a revised posture of the sub-IMU; compensating a lever arm effect by utilizing the estimated mounting error angle, deflection deformation angle and deflection deformation angle speed of each sub-IMU and carrying out information fusion on the revised position, the revised speed and the revised posture of each sub-IMU; determining measurement information of the airborne distributed POS so as to improve the overall measurement precision of a distributed POS system.

Description

technical field [0001] The invention relates to the technical field of multi-task remote sensing load node information fusion, in particular to an airborne distributed POS (Position and Orientation System, Position and Orientation System) multi-node information fusion method and system. Background technique [0002] Multi-task remote sensing payload is one of the important development directions of airborne earth observation at present, such as integrating high-resolution surveying and mapping cameras, imaging spectrometers, large-field infrared scanners, and synthetic aperture radar (Synthetic Aperture Radar, SAR) on the same aircraft Multi-tasking payloads, airborne distributed array antenna SAR, etc. For an integrated aerial remote sensing system equipped with multi-task remote sensing loads, it is necessary to measure the motion parameters of each load distribution point with high precision. [0003] Distributed POS is currently an effective means to obtain motion param...

AI Technical Summary

Problems solved by technology

[0007] However, at present, it is generally assumed that the navigation coordinate system of each sub-IMU is the same, which is the navigation coordinate system of the main POS, so as to directly fuse the information of each IMU, but the position, speed, and attitude are all passed through the coordinate system between the sub-IMU carrier coordinate systems. Direction cosine matrix transformation, lack of rationality

In addition, factors such as the lever arm effect and installation error between the IMUs are not considered. For a high-precision distributed POS system, these factors will bring huge measurement errors, so they must be considered

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