Gravity gradient kinematic navigation method introducing pseudo measurement when considering deviations

A technology of gravity gradient and navigation method, applied in the direction of navigation calculation tools, etc., can solve the problems of rank deficient observation equation, inability to solve, etc.

Inactive Publication Date: 2019-04-23
BEIHANG UNIV
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Problems solved by technology

This increases the number of unknowns. There are nine unknowns, but there are still only six obs

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  • Gravity gradient kinematic navigation method introducing pseudo measurement when considering deviations
  • Gravity gradient kinematic navigation method introducing pseudo measurement when considering deviations
  • Gravity gradient kinematic navigation method introducing pseudo measurement when considering deviations

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Embodiment Construction

[0128] The present invention is a gravity gradient sequential kinematics navigation method that introduces pseudo-measurements when considering measurement deviations, see the figure in the accompanying drawings figure 1 As shown, its specific implementation steps are as follows:

[0129] Step 1: Initial parameter setting

[0130] The initial value r of the position at epoch k is given k0 and the initial value of the measurement deviation b k0 , the estimated result of the previous epoch can be used as the initial position value r of this epoch k0 and the initial value of the deviation b k0 :

[0131]

[0132] And the actual observation measurement variance matrix R rk and bias observation measurement variance matrix R bk . The actual observation measurement variance is taken as the measurement variance of the GOCE spaceborne gravity gradiometer:

[0133] R rk =diag([15 15 15 350 15 500]) 2 (40)

[0134] And the actual measurement variance does not change with t...

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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...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 陈培韩锦飞孙秀聪谭玉龙
Owner BEIHANG UNIV
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