Inertial navigation data reconstruction method, device, computer equipment and storage medium
An inertial navigation and data technology, applied in the field of navigation, can solve the problem of low accuracy of navigation data and achieve the effect of improving accuracy
Active Publication Date: 2022-01-14
TSINGHUA UNIV
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[0005] Based on this, it is necessary to provide a reconstruction method, device, computer equipment and storage medium for inertial navigation data to solve the problem of low accuracy of navigation data output by inertial navigation systems in traditional technologies
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[0054] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0055] The inertial navigation data reconstruction method provided by the embodiment of the present application can be applied to the process of outputting accurate reconstructed navigation data for the inertial navigation system when the carrier is navigating at high latitudes, and it can be applied to such as figure 1 computer equipment shown. The computer device includes a processor and a memory connected through a system bus, and a computer program is stored in the memory. When the processor executes the computer program, the steps of the following method embodiments c...
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The present application relates to a reconstruction method, device, computer equipment and storage medium for inertial navigation data. The method includes: converting the position, velocity and attitude information of the vehicle at the first latitude in the traditional geographic coordinate system into the position, velocity and attitude information of the vehicle at the first latitude in the horizontal geographic coordinate system; Position, velocity and attitude information at the first latitude in the horizontal geographic coordinate system, determine the position, velocity and attitude information of the vehicle at the second latitude in the horizontal geographic coordinate system; the lower limit of the latitude range of the second latitude is greater than the first latitude The upper limit of the latitude range; according to the position, velocity and attitude information of the vehicle at the second latitude in the horizontal geographic coordinate system, the cosine matrix of the direction from the vehicle coordinate system to the measurement coordinate system, and the rotation of the earth coordinate system relative to the inertial coordinate system Angular velocity, determine the inertial navigation reconstruction data of the vehicle. This method greatly improves the accuracy of the output inertial navigation reconstruction data.
Description
technical field [0001] The present application relates to the field of navigation technology, in particular to a reconstruction method, device, computer equipment and storage medium for inertial navigation data. Background technique [0002] In recent years, more and more attention has been paid to the economic, military and scientific research value of the polar region, and the requirements for high-precision polar region navigation technology have been put forward accordingly. However, the special geographical location and magnetic field environment of the polar region limit some navigation. The application of technology, for example, natural phenomena such as solar storms and aurora can interfere with radio systems and even cause them to fail. The inertial navigation system (referred to as inertial navigation system) relies on gyroscopes and accelerometers for dead reckoning, does not rely on external information, is not easily affected by external environments such as te...
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IPC IPC(8): G01C21/16G01C21/04
CPCG01C21/165G01C21/04
Inventor 吴秋平武若楠张嵘胡佩达李海霞
Owner TSINGHUA UNIV