Vehicle-mounted heading and attitude system error compensation method and system based on motion constraints

A heading attitude system and error compensation technology, which is applied in the field of vehicle-mounted heading attitude system error compensation based on motion constraints, can solve problems such as signals are easily blocked or interfered, system error accumulation, independence and reliability are poor

Inactive Publication Date: 2020-10-27
中国人民解放军火箭军工程大学
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Problems solved by technology

However, there is a prominent problem in determining the attitude by simply relying on the strapdown inertial group: the system error will continue to accumulate with the prolongation of the working time, and it is impossible to complete long-term high-precision attitude determination.
However, due to certain defects in the sate

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  • Vehicle-mounted heading and attitude system error compensation method and system based on motion constraints
  • Vehicle-mounted heading and attitude system error compensation method and system based on motion constraints
  • Vehicle-mounted heading and attitude system error compensation method and system based on motion constraints

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[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0035] The purpose of the present invention is to provide a vehicle-mounted attitude system error compensation method and system based on motion constraints, which can achieve long-term high-precision attitude determination in various complex and harsh environments, especially in battlefield environments.

[0036] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further descr...

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Abstract

The invention relates to a vehicle-mounted heading and attitude system error compensation method and system based on motion constraints. The method comprises the following steps of establishing a system state equation of error compensation filtering based on an error model of an attitude and heading system,establishing a measurement equation of error compensation filtering based on a vehicle motion constraint condition,according to the system state equation and the measurement equation, determining an optimal estimation result of the attitude error of the mathematical platform of the attitudeand heading system,and performing error online compensation on the vehicle-mounted heading and attitude system according to the optimal estimation result. Thus, long-time high-precision attitude determination can be realized in various complex severe environments, especially in battlefield environments.

Description

technical field [0001] The invention relates to the technical field of vehicle navigation and positioning, in particular to a method and system for error compensation of a vehicle attitude system based on motion constraints. Background technique [0002] For vehicles with special purposes, such as launching vehicles, armored vehicles, command vehicles, surveying and mapping vehicles, and exploration vehicles, it is usually necessary to have high-precision heading and attitude determination capabilities, which must be realized with the help of the vehicle-mounted attitude system, and the vehicle-mounted attitude In various complex and harsh environments, especially in the battlefield environment, the system not only needs to have the characteristics of high precision, but also has the characteristics of good mobility, autonomy and convenience. [0003] At present, the medium and high-precision heading and attitude systems used for vehicle-mounted platforms at home and abroad ...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 杨波杨小冈席建祥蔡光斌刘云峰柴艳任飞龙
Owner 中国人民解放军火箭军工程大学
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