Carrier navigation attitude measurement method based on geomagnetic information updating

Abstract

The invention relates to a carrier navigation attitude measurement method based on geomagnetic information updating. The method comprises: carrying out initialization; calculating a magnetic declination angle; acquiring data at a next time; measuring navigation attitude information at a next time; updating magnetic declination angle information, and performing the measurement method continuously.According to the invention, data are measured based on an accelerometer, a gyroscope and a magnetic sensor; and on the basis of a discretized Kalman filter algorithm, the magnetic declination angle information is estimated and updated in real time. Therefore, a problem that the course angle information distorts and thus is not reliable due to the magnetic declination angle change caused by ferromagnetic materials like magnetic minerals, reinforcing steel bars and the like is solved.

Description

technical field [0001] The invention relates to the technical field of carrier attitude measurement, in particular to a carrier attitude measurement method based on geomagnetic information update. Background technique [0002] The attitude measurement method refers to the measurement of heading angle ψ, pitch angle θ and roll angle Methods. According to the different measurement principles of heading angle ψ, the current attitude measurement methods mainly include: astronomical measurement method, satellite navigation measurement method, inertial measurement method and geomagnetic measurement method. [0003] The astronomical measurement system uses the measurement of celestial bodies to realize the output of attitude information, which is greatly affected by the atmosphere and has poor environmental adaptability. The satellite navigation measurement method is based on the positioning technology of the satellite navigation system. It uses two antennas to measure the headi...

AI Technical Summary

Problems solved by technology

[0003] The astronomical measurement system uses the measurement of celestial bodies to realize the output of attitude information, which is greatly affected by the atmosphere and has poor environmental adaptability

The satellite navigation measurement method is based on the positioning technology of the satellite navigation system. It uses two antennas to measure the heading and pitch angle, or three antennas to calculate the heading attitude. Due to the influence of antenna installation position errors and elevation differences, its accuracy will be reduced, and the general accuracy will vary with time. The baseline is lengthened and improved, which is not suitable for use on small-sized equipment; the satellite data output frequency generally does not exceed 10Hz, the response speed is slow, and high-frequency or real-time attitude information cannot be given; in addition, satellite navigation measurement methods need to accept navigation satellites The characteristics of the signal determine that it has the following limitations: (1) The signal is weak and susceptible to interference and spoofing; (2) Due to serious attenuation, it is difficult to reach indoors, jungles, underwater and ground; (3) Navigation satellites are in danger of being attacked

However, changes in the external magnetic environment, such as the existence of ferromagnetic buildings such as magnetic minerals and steel bars, will cause changes in the magnetic declination, which will distort the heading angle information obtained by the electronic compass.

Images