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A large misalignment angle transfer alignment method based on huber method

A technology that transmits alignment and large misalignment angles. It is used in measurement devices, instruments, and navigation through velocity/acceleration measurement. It can solve problems such as volumetric Kalman filter failure, non-Gaussian strong noise and even outliers, and reduce The effect of non-Gaussian strong noise and outliers, improving accuracy, and improving filtering effect

Active Publication Date: 2021-12-24
HARBIN INST OF TECH
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Problems solved by technology

Moreover, when the ship is sailing on the sea surface, it is affected by the complex external environment, and there will often be non-Gaussian strong noise or even outliers in the observation data. At this time, based on l 2 The volumetric Kalman filter with the smallest norm may fail

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  • A large misalignment angle transfer alignment method based on huber method
  • A large misalignment angle transfer alignment method based on huber method
  • A large misalignment angle transfer alignment method based on huber method

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Embodiment Construction

[0022] Attached below figure 1 The specific flow chart of the present invention further illustrates the present invention.

[0023] In order to verify the effectiveness of the present invention, Matlab is used to simulate the ship's large azimuth misalignment angle transfer alignment model.

[0024] First, establish the speed plus attitude matching transfer alignment mathematical model, as follows:

[0025] Ignoring the vertical channel, the selected state variables are:

[0026]

[0027] The state equation of the system is:

[0028]

[0029] Among them, n is the navigation coordinate system; the m system is the main inertial navigation carrier coordinate system; the s system is the sub inertial navigation carrier coordinate system; Calculation of carrier coordinate system for sub-inertial navigation; δV n is the projection of the velocity error in the navigation coordinate system; The direction cosine matrix from the main inertial navigation vehicle coordinate sy...

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Abstract

The invention discloses a large misalignment angle transfer alignment method based on the Huber method. Firstly, considering the nonlinearity of the system, the transfer alignment non-linear state equation and measurement equation are established; secondly, the main inertial navigation and sub-inertial navigation solve the inertial navigation respectively, and the speed, attitude and angular velocity information of the main inertial navigation are transmitted to the sub-inertial navigation The navigation computer of the navigation system uses the speed error, attitude error and angular velocity error between the main and sub inertial navigation systems to measure the measurement; then, the volumetric Kalman filter time update is performed; after that, the Huber method is used to construct the weight matrix to compare the observation residuals Perform weighted correction; finally, perform volumetric Kalman filter measurement to update and estimate the installation error angle between the sub-inertial navigation system and the main inertial navigation system, and complete the transfer alignment. The invention solves the problem of fast and high-precision alignment of ships under the condition of mixed Gaussian noise and outliers in observation data.

Description

technical field [0001] The invention relates to the technical field of strapdown inertial navigation initial alignment, in particular to a large misalignment angle transfer alignment method based on the Huber method. Background technique [0002] Inertial navigation has become an important way of ship navigation due to its many advantages such as anti-electromagnetic interference, good concealment, comprehensive information, high short-term accuracy and stability. The inertial navigation system uses the gyroscope to measure the angular velocity information of the carrier, uses the accelerometer to measure the specific force information of the carrier, and obtains the speed, attitude and position information of the carrier through the inertial navigation solution. As a method of dead reckoning, inertial navigation needs to obtain accurate initial information before navigation. Therefore, the speed and accuracy of initial alignment have an important impact on the performance o...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/16G01C25/005
Inventor 高伟王凯张亚王岩岩张悦
Owner HARBIN INST OF TECH