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GNSS/INS tight coupling time dispersion filtering method

A tightly coupled and decentralized technology, applied in the field of combined navigation, which can solve problems such as time-consuming computation

Pending Publication Date: 2021-01-26
北京云恒科技研究院有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: to avoid the traditional tightly coupled Kalman filter, which is time-consuming to calculate due to the large number of observations, and to provide a GNSS / INS tightly coupled time-dispersed filtering method

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  • GNSS/INS tight coupling time dispersion filtering method
  • GNSS/INS tight coupling time dispersion filtering method
  • GNSS/INS tight coupling time dispersion filtering method

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Embodiment

[0126] The following will take the GNSS / MEMS close-coupling device as an example to describe the specific implementation of the present invention in conjunction with the accompanying drawings. For close-coupling devices using other types of inertial navigation, the method provided by the present invention is still applicable.

[0127] The workflow of GNSS / MEMS close coupling device is as follows: figure 2 shown. The frequency of GNSS output pseudo-range and pseudo-range rate data is 1Hz, the frequency of MEMS output IMU data is 200Hz, and the frequency of tight coupling is 1Hz. The initial alignment module 101 provides the initial position, velocity and attitude for the INS mechanics arrangement module 102, and the INS mechanics arrangement module 102 uses the collected IMU data 103 to calculate the position, velocity and attitude of the INS in real time. The time update module 104 is executed 2 IMU cycles before tTC, that is, 10 ms, and the calculation observation array and...

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Abstract

The invention relates to a GNSS / INS tight coupling time dispersion filtering method. Time consumption of point tight coupling at a combined moment is reduced by dispersing a calculation process of a traditional Kalman filter. A traditional tight coupling filter carries out time updating and measurement updating in a combined time point set, consumed time is large and even exceeds the calculation period of INS, and the instantaneity of INS mechanical arrangement is influenced. According to the method, the filter process is dispersed in each time period, and time updating and gain matrix calculation are carried out in advance before a combined moment point. Only the state variable and the state covariance matrix are corrected at the combined time point, so that the calculation amount of thecombined time point is greatly reduced. According to the method, the precision of the filter is not lost, and engineering application of GNSS / INS tight coupling is facilitated.

Description

technical field [0001] The invention relates to a GNSS / INS tightly coupled time dispersion filtering method, which belongs to the technical field of integrated navigation. Background technique [0002] The global satellite navigation system (GNSS) can provide space-time reference for different platforms, and has the characteristics of all-weather work, strong continuity, high precision, and strong real-time performance. However, its outstanding disadvantages are that satellite signals are transmitted on well-known frequencies, the transmission power is not large, the signal-to-noise ratio is low, and the signal reaching the ground is weak, which is prone to signal interruption, multipath effects and other problems, and is susceptible to interference or spoofing. [0003] Inertial Navigation (INS) neither relies on external information nor produces energy radiation. It uses the accelerometer and gyroscope it carries as sensors to detect the specific force and angular velocity...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47G01S19/39
CPCG01S19/47G01S19/393G01S19/396Y02T10/40
Inventor 亢凯舒轶昊智勇雷庞诚韦博何东兴刘斌曾宝儿祝京齐王理
Owner 北京云恒科技研究院有限公司