Estimation method for attitude of inertial navigation system

An attitude estimation and inertial navigation system technology, applied in the field of inertial navigation system attitude estimation, can solve problems such as interference measurement, large error, inaccurate horizontal attitude estimation, etc., and achieve the effect of weakening interference, optimal estimation, and high engineering application value

Active Publication Date: 2019-11-12
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

However, when the carrier has a motion acceleration, the accelerometer output includes the local gravity acceleration and motion acceleration. At this time, if the gravity vector is used as a reference to calculate the horizontal attitude, it will lead to a large error
That is, the acceleration of the carrier motion interferes with the measurement of the gravity vector by the accelerometer, making the horizontal attitude estimation inaccurate

Method used

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  • Estimation method for attitude of inertial navigation system
  • Estimation method for attitude of inertial navigation system
  • Estimation method for attitude of inertial navigation system

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Embodiment Construction

[0051] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0052] An inertial navigation system attitude estimation method, such as figure 1 shown, including the following steps:

[0053] Step 1, taking the attitude quaternion as the state quantity, and establishing the Kalman filter state equation on the basis of the quaternion attitude update differential equation;

[0054] The concrete steps of described step 1 include:

[0055] (1) According to the known accelerometer output is y a =[0a x a y a z ]T , the gyroscope output is y g =[0 ω x ω y ω z ] T , the gravity vector is G=[0 0 0 -g] T , to establish the Kalman filter state equation, the known basic form of the state equation is:

[0056] x k+1 = Φ k x k +W k

[0057] Among them, state quantity X=[q 0 q 1 q 2 q 3 ε x ε y ε z ] T , q is the carrier attitude quaternion, ε is the gyro constant drift; state transition mat...

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Abstract

The invention relates to an estimation method for an attitude of an inertial navigation system. The method is technically characterized by comprising the following steps of step 1, establishing a Kalman filter state equation with an attitude quaternion as a state quantity and a quaternion attitude updating differential equation as a basis; step 2, establishing a quaternion pseudo-Kalman filteringmeasurement equation with an accelerometer measurement value as input; and step 3, performing Kalman filtering measurement update according to the Kalman filter state equation established in step 1 and the quaternion pseudo-Kalman filtering measurement equation established in step 2, calculating and measuring and updating a residual error value, performing real-time estimation on a measured noisevariance according to the residual error value measured and updated by an accelerometer, dynamically adjusting the size of a measured noise variance matrix through the magnitude of motion acceleration, and further guaranteeing the attitude measurement precision of the system under dynamic conditions. By adopting the estimation method for the attitude of the inertial navigation system provided by the invention, the estimation precision of the horizontal attitude under the dynamic conditions is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of IMU attitude measurement, in particular to an inertial navigation system attitude estimation method. Background technique [0002] An IMU-based attitude measurement system that utilizes accelerometer and gyroscope outputs for optimal estimation of horizontal attitude. When the carrier has no motion acceleration, the accelerometer can accurately sense the local gravity vector and fuse with the output of the gyroscope to obtain a higher-precision horizontal attitude. However, when the carrier has motion acceleration, the accelerometer output includes the local gravity acceleration and motion acceleration. At this time, if the gravity vector is used as a reference to calculate the horizontal attitude, it will lead to a large error. That is, the acceleration of the carrier motion interferes with the measurement of the gravity vector by the accelerometer, making the horizontal attitude estimation inaccurate. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C9/00G01C21/18
CPCG01C9/00G01C21/18
Inventor 杨松普王琳宋高玲赵汪洋
Owner TIANJIN NAVIGATION INSTR RES INST
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