Ground alignment method, system and storage medium based on information constraints of multiple inertial groups
A group information and ground technology, applied in the field of inertial navigation, can solve the problems of increasing the observability of errors, and it is difficult to improve the alignment accuracy, so as to achieve the effect of improving accuracy and speed
Active Publication Date: 2020-11-13
HENGYANG ZHIGU TECH DEV CO LTD
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Problems solved by technology
The traditional autonomous alignment method takes zero speed as the observation quantity, increases the observability of errors based on multi-position flipping, and it is difficult to improve the alignment accuracy when there is no other available information
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[0056] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0057] figure 1 This is one of the schematic diagrams of the implementation of the ground alignment method based on the multi-inertial group information constraint according to the embodiment of the present invention. refer to figure 1 As shown, the ground alignment method based on multiple inertial group information constraints in this embodiment includes the following steps:
[0058] Step 101, in the case that the carrier in the strapdow...
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The invention discloses a ground alignment method based on multi-inertia-unit informational constraint. The ground alignment method based on multi-inertia-unit informational constraint comprises: in acase that a carrier in a strap-down inertial navigation system remains stationary with respect to the ground at a first position, and after the inertia units in the strap-down inertial navigation system are warmed up, acquiring first real-time navigation information of each inertia unit; and determining, according to the first real-time navigation information, second real-time navigation information of each inertia unit with respect to the carrier; establishing a first state equation by taking an error parameter of each inertia unit when performing the ground alignment as a state variable; bytaking the second real-time navigation information as an observation object, establishing a first observation equation based on a drift error of each inertia unit being approximating zero mean; and performing a first evaluation on the state variable based on the first state equation and the first observation equation and by using a Kalman filtering method. Meanwhile, the invention also disclosesa ground alignment system based on multi-inertia-unit informational constraint and a computer readable storage medium.
Description
technical field [0001] The present invention relates to the field of inertial navigation technology, and in particular, to a ground alignment method, system and computer-readable storage medium based on multi-inertial group information constraints. Background technique [0002] One of the biggest advances in navigation and surveying in more than half a century has been the development of inertial systems. The inertial system is the product of a high-tech comprehensive application technology developed in response to military needs. It has the characteristics of autonomy, concealment, real-time, and is not limited by regional time and climatic conditions. It has become a modern aerospace vehicle, rocket, and missile. , necessary navigation and positioning equipment for aircraft, ships, submarines and land combat vehicles. [0003] The main purpose of the initial alignment of the inertial navigation system is to improve the alignment accuracy of the initial alignment of the in...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 张春熹卢鑫冉龙俊杨艳强
Owner HENGYANG ZHIGU TECH DEV CO LTD