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A Dual Calibration Method for Inertial Navigation and Gravity Measurement Based on "Gravity Peak"

A technology of inertial navigation and gravity measurement, applied in the direction of measuring devices, instruments, etc., can solve the problems of complex implementation process, real-time measurement drift error calibration method without underwater gravity, poor reliability and engineering realizability, and achieve less calculation , Improve the accuracy of autonomous navigation and real-time gravity measurement, and the effect of high precision

Active Publication Date: 2021-07-23
TIANJIN NAVIGATION INSTR RES INST
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  • Application Information

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Problems solved by technology

The method of obtaining the gravity field positioning information to calibrate the inertial navigation system is complicated to implement, and the reliability and engineering realizability are poor. At the same time, there is no effective underwater gravity real-time measurement drift error calibration method. Therefore, the present invention proposes a method with high reliability. Simple and easy to operate and good engineering practicability in the "gravity peak" characteristic area using the characteristic information of the gravity field to realize the method of simultaneous calibration of the inertial navigation and gravity measurement error of the inertial / gravity autonomous navigation system

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  • A Dual Calibration Method for Inertial Navigation and Gravity Measurement Based on "Gravity Peak"
  • A Dual Calibration Method for Inertial Navigation and Gravity Measurement Based on "Gravity Peak"
  • A Dual Calibration Method for Inertial Navigation and Gravity Measurement Based on "Gravity Peak"

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Embodiment Construction

[0040] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0041] Based on the development status of high-precision inertial navigation technology at home and abroad, the inertial navigation system adopts low-drift high-precision inertial components and adopts system error modulation measures. N nautical miles, take this as an example to illustrate the inertial / gravity autonomous navigation system inertial navigation and gravity measurement error double calibration method proposed by the invention.

[0042] A dual calibration method for inertial navigation and gravity measurement based on "gravity peak", comprising the following steps:

[0043] Step 1. Select the "gravity peak" characteristic area according to the gravity field background map information, and extract the key characteristic information of the gravity field distribution in the area.

[0044] The concrete steps of described step 1 include: ...

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Abstract

The present invention relates to a dual calibration method of inertial navigation and gravity measurement based on "gravity peak". Gravity field distribution key feature information; step 2, design navigation trajectory and implement navigation measurement, and complete initial calibration of inertial navigation position and gravity measurement error; step 3, fine calibration and effect self-evaluation of inertial navigation and gravity measurement error. The invention can simultaneously correct the inertial navigation position divergence error and gravity real-time measurement drift error, and solves the problems of inertial navigation system error accumulation and divergence over time and gravity sensor measurement error drift.

Description

technical field [0001] The invention belongs to the technical field of inertial / gravity autonomous navigation systems, and relates to a simultaneous calibration method for inertial navigation errors and gravity measurement errors, in particular to a dual calibration method for inertial navigation and gravity measurement based on "gravity peaks". Background technique [0002] Inertial / gravity autonomous navigation technology is an important development direction of contemporary autonomous navigation technology. It does not depend on satellite navigation system (GNSS), and has many advantages such as high autonomy, concealment, anti-interference and high precision. Due to its inherent characteristics, the inertial navigation system has the disadvantage that the navigation error diverges with time, and the long-term navigation accuracy is low. At present, the long-endurance high-precision navigation is dominated by inertial / satellite integrated navigation, but the global satelli...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 李晓平舒东亮周贤高孙敏
Owner TIANJIN NAVIGATION INSTR RES INST