Gravity gradient kinematic navigation method introducing pseudo measurement when considering deviations

Abstract

The invention discloses a gravity gradient kinematic navigation method introducing pseudo measurement when considering deviations, and belongs to the field of autonomous navigation. The gravity gradient kinematic navigation method comprises the following steps that first, preparatory work is performed, specifically, a relevant calculation formula of the gravity gradient and representation of the gravity gradient in different coordinate systems are given; second, initial parameters of solution are set, data is prepared, and selection of an iterative initial value, a measurement variance and thelike is performed; third, an EGM2008 model is used for calculating a gravity gradient value and a partial derivative matrix of the gravity gradient to the position; fourth, the pseudo measurement isintroduced to construct a kinematic navigation observation model; and 5, a nonlinear least square method is used for iterative solution. Through the steps, the pseudo measurement is introduced, observation information is added, and then a gravity gradient sequential kinematic navigation observation equation considering the measurement deviations is constructed. The dependence on satellite dynamicconstraints in traditional satellite orbit determination application is eliminated, the application of gravity gradient navigation is extended to general objects, and thus greatly the application potential and value of gravity gradient positioning navigation are greatly improved.

Description

technical field [0001] The present invention provides a gravity gradient kinematics navigation method that introduces pseudo-measurements when considering deviations. It relates to a sequential kinematics positioning method based on gravity gradient measurements and a deviation fixing method, that is, a static or The invention relates to a method for a moving carrier to perform position estimation and measurement deviation estimation by using gravity gradient measurement, belonging to the technical field of navigation. Background technique [0002] Full tensor gravity gradient matching navigation technology is an emerging autonomous navigation method. It uses the gravity gradient information of the earth itself to estimate the position of the carrier through modeling, matching and other methods. Gravity gradient matching navigation technology has many advantages such as real-time, full autonomy, and anti-interference. By installing a gravity gradiometer on the carrier platf...

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Problems solved by technology

This increases the number of unknowns. There are nine unknowns, but there are still only six observation equations. Therefore, the observation equations are rank deficient and cannot be solved.

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