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Multi-inertial-navigation redundant system initial structure optimization method based on zero-speed correction

A zero-speed correction, redundant system technology, applied in the field of inertial navigation, can solve the problems of increased oscillation and monotonous increase of inertial navigation system errors.

Pending Publication Date: 2020-10-20
CHINA RAILWAY FIRST SURVEY & DESIGN INST GRP
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Problems solved by technology

[0008] However, there is an obvious shortcoming in this method. The error of the inertial navigation system is not necessarily a monotonically increasing characteristic, but an oscillation increasing form
Therefore, the result of fitting the error amount of the inertial navigation system under static conditions may not necessarily reflect the accuracy performance of the inertial navigation system at this stage

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  • Multi-inertial-navigation redundant system initial structure optimization method based on zero-speed correction
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  • Multi-inertial-navigation redundant system initial structure optimization method based on zero-speed correction

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[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] like figure 1 As shown, this method conducts research on the key application technologies in the multi-inertial navigation redundant configuration system, and designs the initial optimization technology for the multi-inertial navigation redundant configuration system, and performs primary and secondary allocation for multiple sets of inertial navigation systems.

[0023] In engineering technical problems, in order to obtain the actual data of each physical quantity (state) of an engineering object (system), it is necessary to measure the measurable state of the system by means of measurement. The measured value may be only a part of the system state or a linear combination of some states, and the measured value contains random errors (often called measurement noise). The Kalman filter technology with zero speed optimization (proposed ...

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Abstract

The invention relates to a multi-inertial-navigation redundant system initial structure optimization method based on zero-speed correction. Static simulation is carried out before the inertial navigation system works, and the precision of the inertial navigation system is evaluated by analyzing static output data of the inertial navigation system. The method comprises the following steps: (1) carrying out filtering calculation on a navigation system by utilizing Kalman filtering to obtain an error estimation value, and synthesizing a basic navigation parameter error equation of the strapdown inertial navigation system and an error equation of an inertial instrument to obtain a state equation of the integrated navigation system; 2) combining the output quantity of the navigation system withan error state equation of the system, and giving a measurement equation by adopting a position and speed combination mode in zero-speed correction; 3) setting a device noise model, initial parameters, a sampling period and an updating period, setting initial parameters of a filter, and carrying out zero-speed correction on the two sets of equal-precision inertial navigation systems under a static condition, and 4) comparing the two sets of inertial navigation systems after zero-speed correction to obtain the inertial navigation system with better precision performance.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a method for optimizing the initial structure of a multi-inertial navigation redundancy system based on zero-speed correction. Background technique [0002] Most modern integrated navigation systems are complex systems composed of many different navigation systems. With the increase of system redundancy and function expansion, the complexity of the system will increase, and the probability of failure will inevitably increase. Once a failure occurs, it will It will bring huge losses, so improving the fault tolerance and reliability of the integrated navigation system is an important prerequisite for navigation reliability and safety. [0003] A common method to ensure the reliability and accuracy of navigation systems is redundancy technology. By loading multiple sets of sensors or navigation systems of the same type, when a system fails, it can be replace...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 朱铁栓蹇峡于凤宁伟高明侠路长平朱毅薛东张彧锋叶安君许超钤王鑫哲
Owner CHINA RAILWAY FIRST SURVEY & DESIGN INST GRP
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