Inertial navigation error suppression method and system based on train motion constraints
A motion constraint and error suppression technology, applied in radio wave measurement systems, satellite radio beacon positioning systems, navigation and other directions, can solve the problems of large dependence on GNSS signal integrity and rapid divergence, and achieve recursive mean and variance, The effect of suppressing error divergence and ensuring accuracy
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[0052] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0053] Such as figure 1 As shown, an inertial navigation error suppression method based on train motion constraints, including:
[0054] S102: judging whether the satellite signal is blocked;
[0055] S103: If the satellite signal is blocked, judge the maneuvering state of the train in real time to judge whether there is a large acceleration disturbance of the train;
[0056] S104: If there is no large acceleration disturbance in the train, correct the inertial navigation error model;
[0057]S105: Use the unscented Kalman filter algorithm to process the data obtained by the corrected inertial navigation error model, so as to obtain the optimal estimation of the t...
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