A Method of Inertial Navigation Velocity Error Determination Based on Recursive Least Squares Parameter Identification

Abstract

The present invention is an inertial navigation speed error determination method based on recursive least squares parameter identification, which can improve the speed calculation accuracy of strapdown inertial navigation in a dynamic environment, and improve the subsequent speed update and position update accuracy; In the transfer alignment process of the moving base with matching amount, the acquisition of velocity error can be improved, thereby effectively improving the BIAS error estimation of the accelerometer in the transfer alignment process. In the speed update process, the present invention establishes an appropriate speed error compensation model to realize speed error compensation, and obtains the corresponding speed error compensation factor by analyzing the strapdown inertial navigation speed error model under general conditions, thereby establishing Strapdown inertial navigation speed error model, and then introduce the error model into position update, which can effectively solve the position error caused by speed divergence in the process of strapdown inertial navigation solution, especially for the positioning results of multi-turn maneuvers. .

Description

technical field [0001] The invention relates to an inertial navigation velocity error determination method based on recursive least square parameter identification, belonging to the field of strapdown inertial navigation velocity and position error compensation. Background technique [0002] At present, the inertial navigation system (Inertial NaVigation System, INS) is more and more popular in positioning services due to its autonomy, strong anti-interference ability, good concealment, and high data update rate. (Micro-Electro-Mechanical-System) strapdown inertial navigation system has played an irreplaceable role in personal navigation, aircraft, and vehicle navigation because of its small size, low power consumption, and light weight. A typical strapdown inertial navigation system The system positioning process must include three processes: attitude update, that is, through the processing of gyroscope data, the attitude update process of the system is realized; on this ba...

AI Technical Summary

Problems solved by technology

In the speed update process of some existing strapdown inertial navigation systems, due to the influence of their own device performance, the errors introduced by the performance of the accelerometer itself and the attitude coupling are mostly ignored, which introduces a lot of problems to the speed and positioning of the strapdown inertial navigation system. error

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