Filtering method and device for integrated navigation system and storage medium
A technology of integrated navigation system and filtering device, which is applied in the direction of integrated navigator, navigation, measuring device, etc., can solve the problems of high computing resource requirements and low navigation accuracy, and achieve the effect of overcoming high computing resource requirements
Inactive Publication Date: 2020-12-29
BEIJING XINGJI RONGYAO SPACE TECH CO LTD +1
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[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects in the prior art that the integrated navigation requires high computing resources and the navigation accuracy is low, thereby providing a filtering method, device and storage medium for the integrated navigation system
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[0027] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. 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.
[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, ...
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The invention provides a filtering method and device for an integrated navigation system and a storage medium. The method comprises the steps that the angular velocity and the visual acceleration of amoving carrier at a current moment are acquired; state matrixes are determined according to the angular velocity and the visual acceleration of the moving carrier; the state transition matrix at thecurrent moment is determined according to the state matrix and the state transition matrix at the previous moment; and when the filtering condition of the integrated navigation system is met, filtering is carried out according to the state transition matrix at the current moment. Through the implementation of the filtering method, the situation that the state transition matrix is obtained througha traditional inverse matrix solving method can be avoided, due to the fact that the inverse matrix is prevented from being solved in the whole process, the state transition matrix at each moment canbe accurately obtained while the occupation of computing resources by computing the inverse matrix is reduced, and the navigation effect of the integrated navigation system is guaranteed.
Description
technical field [0001] The invention relates to the field of launch vehicle control, in particular to a filtering method, device and storage medium of an integrated navigation system. Background technique [0002] Integrated navigation usually uses two or more dissimilar navigation systems to measure and calculate the same navigation information, calculate and correct the errors of each navigation system, and provide accurate navigation information. When merging the navigation data of various navigation systems in the integrated navigation system, the state transition matrix of the integrated navigation is usually used for Kalman filtering to filter the noise and interference of the integrated navigation system and obtain the optimal navigation result. [0003] In related technologies, the state transition matrix of integrated navigation is obtained by solving the inverse matrix. Since the calculation of the inverse matrix requires a large amount of computing resources, in t...
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IPC IPC(8): G01C21/20G01C21/24
CPCG01C21/20G01C21/24G01C21/005
Inventor 彭小波徐国光亓朝玉赵也倪
Owner BEIJING XINGJI RONGYAO SPACE TECH CO LTD