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Attitude autonomous redundant integrated navigation algorithm

A combined navigation and algorithm technology, applied in navigation calculation tools, navigation, mapping and navigation, etc., can solve problems such as long convergence time

Pending Publication Date: 2019-06-21
山东智翼航空科技有限公司
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is: in order to overcome the deficiencies in the prior art, the present invention provides a kind of attitude based on MEMS IMU / GNSS / Magnetometer / Baro Autonomous redundant integrated navigation algorithm, solving the problem of no attitude data redundancy in pure integrated navigation algorithm and long convergence time after GNSS repositioning

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  • Attitude autonomous redundant integrated navigation algorithm
  • Attitude autonomous redundant integrated navigation algorithm
  • Attitude autonomous redundant integrated navigation algorithm

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Embodiment Construction

[0077] The present invention will be described in detail in conjunction with accompanying drawing now. This figure is a simplified schematic diagram only illustrating the basic structure of the present invention in a schematic manner, so it only shows the components relevant to the present invention.

[0078] Such as figure 1 As shown, the integrated navigation system involved in the present invention includes IMU, GNSS, magnetometer and barometric altimeter installed on the carrier, wherein,

[0079] The IMU contains a three-axis orthogonal gyroscope and a three-axis orthogonal accelerometer, which are used to measure angular velocity and acceleration (specific force); the GNSS receiver is used to output the position and velocity of satellite navigation; the three-axis orthogonal magnetometer is used for Geomagnetic measurement; the barometric altimeter is used to measure the atmospheric pressure, so as to convert the barometric altitude.

[0080] Such as Figure 1-Figure ...

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Abstract

The invention provides an attitude autonomous redundant integrated navigation algorithm which comprises a set of autonomous AHRS algorithm and a set of integrated navigation algorithm, and the two sets of algorithms successively complete the solution in the same navigation period. The AHRS algorithm uses adaptive vector cross-multiplication filtering and uses MEMS IMU and magnetometer data to calculate the course and attitude data of the carrier. Based on the carrier dynamics model, the integrated navigation algorithm uses IMU, the magnetometer, the barometric altimeter and the GNSS data and high-dimensional extended Kalman filtering to complete data fusion and calculates the position, velocity and attitude information. The AHRS algorithm is a pure autonomous algorithm and is redundant andhot backup with the attitude data in the integrated navigation algorithm. The algorithm still provides the reliable course and attitude information for the carrier after the GNSS fails and provides initial attitude for the integrated navigation algorithm after GNSS re-positioning so as to make the integrated navigation algorithm converge quickly.

Description

technical field [0001] The invention relates to the technical field of integrated navigation algorithms, in particular to an attitude autonomous redundant integrated navigation algorithm. Background technique [0002] In the existing integrated navigation algorithm, there is no redundancy of attitude data. After the satellite navigation (GNSS) signal fails, it is in a pure inertial navigation state, and the position, speed, and attitude errors quickly diverge to the point where it cannot be used, and cannot provide a reliable heading for the carrier. , Attitude information; when GNSS is repositioned, there is no initial attitude information, and the integrated navigation algorithm needs to re-initially align, the convergence time is longer, and even the algorithm diverges. Contents of the invention [0003] The technical problem to be solved by the present invention is: in order to overcome the deficiencies in the prior art, the present invention provides a kind of attitud...

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Application Information

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IPC IPC(8): G01C21/00G01C21/20
Inventor 李德辉王冠林唐宁
Owner 山东智翼航空科技有限公司