Inertial navigation carrier moving track correction method based on morphological filtering

Abstract

The invention relates to an inertial navigation carrier moving track correction method based on morphological filtering. The inertial navigation carrier moving track correction method comprises the following steps of: step 1, acquiring inertial data of a carrier by means of an IMUin a strapdown inertial navigation system; step 2, acquiring acceleration data after abnormal value correction; 3, acquiring a variable quantity of displacement of the carrier in the sampling time; step 4, acquiring carrier position information at the current sampling moment; step 5, and acquiring track information ofthe carrier moving on the navigation coordinate system. Compared with the prior art, the inertial navigation carrier moving track correction method has the advantages of high precision, good practicability and the like.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a method for correcting the running track of an inertial navigation carrier based on morphological filtering. Background technique [0002] At present, some scholars have proposed the positioning method using the inertial odometer. This method is to realize the positioning of the pipeline path through the measurement of the inertial navigation data during the system movement process and the correction of the inertial navigation calculation combined with the displacement data of the odometer. Through the analysis of the current inertial navigation positioning accuracy, the IMU inertial navigation odometer positioning has the problem of low measurement accuracy. For long pipelines, the error is about m level, and there is still a certain gap with the actual measurement requirements. This method is rarely used in practice. [0003] According to the analysis of the posit...

AI Technical Summary

Problems solved by technology

Through the analysis of the current inertial navigation positioning accuracy, the IMU inertial navigation odometer positioning has the problem of low measurement accuracy. For long pipelines, the error is about m level, and there is still a certain gap with the actual measurement requirements. In practice, this method is less

[0003] According to the analysis of the IMU inertial odometer positioning principle, the measurement data error in the positioning algorithm is a process of accumulation, and the abnormal data formed under abnormal measurement conditions (such as vibration, turning, etc.) will also accumulate, which will eventually lead to the decline of measurement accuracy.

Images