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Time synchronization algorithm based on loosely coupled IMU array navigation system

A navigation system and time synchronization technology, which is applied in directions such as navigation through speed/acceleration measurement, and can solve problems such as large amount of computation

Pending Publication Date: 2019-11-08
UNIV OF SHANGHAI FOR SCI & TECH
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AI Technical Summary

Problems solved by technology

The software solution is to use a synchronous extrapolation algorithm, which has a large amount of calculation

Method used

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  • Time synchronization algorithm based on loosely coupled IMU array navigation system
  • Time synchronization algorithm based on loosely coupled IMU array navigation system
  • Time synchronization algorithm based on loosely coupled IMU array navigation system

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Embodiment Construction

[0070] The time synchronization algorithm based on the loosely coupled IMU array navigation system of the present invention comprises the following steps:

[0071] Step 1. Set the time synchronization error to T in the IMU array navigation system d , the sampling period of the inertial sensor is T s , and the offset and drift rate between the clocks in the system have been compensated, only the initial offset between the clocks is unknown, that is, the time synchronization error is considered to be constant;

[0072] Step 2. Establish the error equation of the IMU array navigation system, select the error amount between each navigation subsystem as the state quantity, and establish the indirect method filtering based on the Kalman filter. The input of the Kalman filter is the pair of two inertial navigation systems. The difference between the measured output of the same navigation parameter is calculated through iterative filtering to estimate the amount of each error;

[00...

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Abstract

The invention discloses a time synchronization algorithm based on a loosely coupled IMU array navigation system. An error model of an IMU array navigation system is established, a system equation containing a time synchronization error is established based on the model, and a time synchronization error as a state variable is introduced into a state space model to serve as a state estimation amount; with a fractional delay filter, time displacement is performed on the time synchronization error, interpolation is performed on amplitude and phase responses of the fractional delay filter by usingthe Lagrange's interpolation to obtain displacement of the inertial sensor data so as to ensure time synchronization of the inertial sensor; and carrying out error compensation on the delayed inertialsensor data, inputting the inertial sensor data after time displacement and error compensation into a navigation equation of the inertial navigation system, and carrying out navigation calculation toobtain actual navigation parameters. According to the disclosed method, no extra hardware is needed; and the computation load of the navigation system is reduced.

Description

technical field [0001] The invention relates to a time synchronization algorithm based on a loosely coupled IMU array navigation system. Background technique [0002] When navigation systems use inertial sensor arrays or other sensors for data fusion, the fusion algorithms used often assume perfect time synchronization of the inertial measurement units (IMUs) within the inertial sensor array, but in practice, this is difficult to achieve of. There are many factors that cause the IMU array clock to be out of sync, such as: measurement acquisition time, preprocessing time, communication transmission time, buffer time, computer scheduling time, manufacturing process and environmental factors, etc. [0003] At present, there are three methods to solve the problem of time synchronization error: hardware implementation, software implementation and combination of software and hardware. In the processing of GPS / INS integrated navigation, researchers solve the time synchronization ...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 王创丁德锐管启王远范亚州
Owner UNIV OF SHANGHAI FOR SCI & TECH
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