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Inertial acceleration filtering decoupling method based on pattern recognition

A technology of acceleration filtering and pattern recognition, used in measurement devices, geophysical measurements, instruments, etc.

Active Publication Date: 2021-02-05
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a method of inertial acceleration filtering and decoupling based on pattern recognition, which can fully consider the time-varying effect of the gravity sensor and the coupled acceleration error, and solve the gravity signal by means of state correction Decoupling the problem from motion noise can improve the processing accuracy of high dynamic gravity measurement data

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  • Inertial acceleration filtering decoupling method based on pattern recognition
  • Inertial acceleration filtering decoupling method based on pattern recognition
  • Inertial acceleration filtering decoupling method based on pattern recognition

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Embodiment Construction

[0098]The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings:

[0099]An inertial acceleration filtering and decoupling method based on pattern recognition includes the following steps:

[0100]Step 1. Use EGM2008 model gravitational acceleration to recognize the gravitational acceleration signal and construct a statistical model of the gravitational acceleration signal on the earth's surface.

[0101]The specific steps of step 1 include:

[0102](1) The gravitational acceleration of the EGM2008 model is differentiated successively according to the non-stationary signal, and the statistical model of the differentiated signal is identified by the autocorrelation method. This process is repeated until the signal statistical model is white noise. The process is as followsfigure 1 Shown.

[0103](2) It has been verified by practice that the second differential signal of the gravitational acceleration g conforms to the statistical ...

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Abstract

The invention relates to an inertial acceleration filtering decoupling method based on pattern recognition. The method comprises the following steps: 1, carrying out the pattern recognition of a gravitational acceleration signal through the gravitational acceleration of an EGM2008 model, and building a statistical model of an earth surface gravitational acceleration signal; 2, establishing a statetransition equation of gravity dynamic measurement through the statistical model of the earth surface gravity acceleration signal established in step 1 in combination with a gravity sensor output error model; and 3, establishing a measurement equation of the system through GNSS information, and performing Kalman filtering in combination with the state transition equation established in step 2 torealize optimal estimation of the gravity anomaly delta g in the state variable. The unbiased minimum variance estimation of the inclination error, the scale factor error and the carrier motion compensation amount of the gravity sensor can be realized in a state variable optimal estimation mode, and the processing precision of dynamic gravity measurement data can be obviously improved.

Description

Technical field[0001]The invention belongs to the technical field of gravity measurement, and relates to a technology for accurately extracting weak gravity abnormal signals under high dynamic conditions such as unmanned boats and aviation, in particular to an inertial acceleration filtering and decoupling method based on pattern recognition.Background technique[0002]Dynamic gravity measurement first realizes the measurement of inertial acceleration by force balance. Under the geographic horizontal attitude reference, the inertial acceleration measurement information is obtained from the vertical or equivalent vertical channel of the gravity sensor, which includes the acceleration of gravity and the acceleration of the carrier movement. , And the two cannot be directly separated. It is necessary to use high-precision GNSS positioning information to assist in the differential calculation and correction of the motion acceleration, eliminate the carrier motion acceleration, retain the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01V13/00
CPCG01C25/005G01V13/00
Inventor 高巍毋兴涛李达王伟张晓雅
Owner TIANJIN NAVIGATION INSTR RES INST
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