Kalman filtering-based horizontal coordinate system strapdown inertial navigation system damping algorithm

Abstract

The invention provides a kalman filtering-based horizontal coordinate system strapdown inertial navigation system damping algorithm, and belongs to the technical field of polar region navigation. A kalman filtering error model in the horizontal coordinate system is established, a horizontal attitude error angle is estimated, and the horizontal attitude error angle is continuously corrected by means of feedback correction, so that Schuler oscillation in posture, speed and position errors is inhibited, and outer horizontal damping of the kalman filtering is realized. The reliability of the outerspeed information is judged according to the outer speed validity criterion; and the running state of the current strapdown inertial navigation system is determined according to the judgment result,and when the outer speed information is effective, the system switches from the non-damping state to the damping state; finally, after the kalman filtering is stable, the estimated horizontal attitudeerror angle is continuously fed back and corrected, so that that Schuler oscillation in posture, speed and position errors is inhibited, and outer horizontal damping of the polar region kalman filtering is realized. According to the algorithm, the outer horizontal damping of the polar region can be realized, and the overshoot error generated in the damping switching process also can be inhibited.

Description

technical field [0001] The invention belongs to the technical field of polar region navigation, and relates to a strapdown inertial navigation system (SINS) damping algorithm suitable for polar regions, in particular to a Kalman filter-based strapdown inertial navigation system damping algorithm. Background technique [0002] Due to the special geographical environment of the polar region, general navigation methods such as satellite navigation, radio navigation, and geomagnetic navigation cannot work normally. The strapdown inertial navigation system has become the first choice for polar region navigation because of its autonomy, continuity and globalization. With the increase of latitude, there are problems such as too fast convergence of meridians and loss of definition of north direction in the polar region. The commonly used north azimuth inertial navigation system cannot correctly calculate the relevant navigation information in the polar region. [0003] In order to s...

AI Technical Summary

Problems solved by technology

However, this algorithm based on the damping network generally has two main problems: one is that it is difficult to determine the parameters of the damping network according to the different motion states, and repeated attempts are required; but when there is an error in the external velocity information, switching from the undamped to the damped state will break the System balance, resulting in large overshoot error

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