Gravity compensation method, system and device

A gravity compensation and gravity technology, applied in the field of inertial navigation, can solve the problems of long calculation time, difficult to meet the real-time requirements of the navigation system, and complex calculation process.

Active Publication Date: 2018-12-21
TSINGHUA UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] Based on this, it is necessary to provide a gravity compensation method, system and device for the above-mentioned technical problems that the calculation process is complex, the calculation time is long, and it is difficult to meet the real-time requirements of the navigation system.

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  • Gravity compensation method, system and device
  • Gravity compensation method, system and device

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Embodiment Construction

[0053] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0054] A gravity compensation method provided by this application can be applied to such as figure 1shown in the application environment. Among them, the navigation computer communicates with the gravity computer through the network according to the communication protocol. Wherein, the navigation computer and the gravity computer can be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers and other intelligent computer devices that can realize the communication. Among them, the accelerometer, gyroscope and navigation compute...

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Abstract

The invention provides a gravity compensation method, system and device. A navigation computer determines position information of a carrier according to an initial gravity vector, a specific force andposture information of the carrier, and sends the position information to a gravity computer, the gravity computer calculates a gravity vector of the position of the carrier according to the positioninformation of the carrier and sends the gravity vector to the navigation computer, and the navigation computer updates a real-time gravity vector of the carrier according to the gravity vector of the location of the carrier. In this way, the transmission of the position information and the update of the gravity vector of the carrier are achieved by the communication between the navigation computer and the gravity computer, and the calculation of the gravity vector of the carrier by the gravity computer does not interrupt the solution of the navigation information of the carrier by the navigation computer, the real-time output of the navigation information is guaranteed, the calculation process is simple, the complexity is low, the calculation time of the gravity vector is greatly shortened, and it is ensured that the update of the gravity vector of the carrier meets the real-time requirements of gravity compensation of a navigation system.

Description

technical field [0001] The present application relates to the technical field of inertial navigation, in particular to a gravity compensation method, system and device. Background technique [0002] Inertial navigation system, referred to as inertial navigation system, mainly relies on gyroscopes and accelerometers for dead reckoning. It can independently, autonomously and continuously determine the position of the carrier. It is currently widely used in civil, military and scientific research fields. Among them, the accelerometer does not distinguish between the acceleration of gravity and the acceleration of the movement of the carrier. Therefore, in order to obtain the acceleration of the movement of the carrier for dead reckoning, all inertial navigation systems need the actual gravity vector of the carrier in the local area. [0003] The difference between the actual gravity vector and the normal gravity vector is called the gravitational disturbance vector. The influe...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 吴秋平武若楠张嵘韩丰田胡佩达李海霞
Owner TSINGHUA UNIV
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