High-precision real-time flight navigation calculation method

Abstract

The invention relates to a high-precision real-time flight navigation calculation method, which comprises the following steps of receiving INS navigation data and GNSS information by using a high-speed processor, and then sequentially executing SINS navigation calculation, inertial navigation extrapolation, SINS navigation calculation and integrated navigation Kalman filtering. In a typical working scene of the method, the SINS navigation calculation is 0.5 ms, the extrapolation time of the GNSS to the SINS navigation is less than 0.01 ms, the extrapolation time can be ignored, the integratednavigation Kalman filtering is 1.6 ms, and the two navigation calculation inputs are different, so that the two navigation calculation inputs need to be operated independently. Therefore, the total consumed time is about 0.5*2+1.6=2.6 ms, 80% of time margin is considered, and the system real-time performance requirement that the integrated navigation calculation period is larger than 3.25 ms can be met. Double-CPU resources are fully utilized, strict real-time navigation calculation performance requirements can be met, and accurate integrated navigation can be achieved.

Description

technical field [0001] The invention relates to a high-precision real-time flight navigation calculation method, which belongs to the technical field of control navigation calculation and attitude measurement. Background technique [0002] GNSS (Global Satellite Navigation System) can measure position, speed and time, but it cannot provide stable and correct navigation information in the application scenarios where the aircraft’s working electromagnetic environment is complex or satellite signals are affected; INS (Inertial Navigation System) can realize position , speed and attitude measurement, but as a navigation method of integral calculation, there is an inherent defect that the error accumulates over time; and for the complex attitude movement of the spin vehicle, the performance of the INS sensor will be reduced. Contents of the invention [0003] The technical solution problem of the present invention is: overcome the deficiencies in the prior art, the present inve...

AI Technical Summary

Problems solved by technology

[0002] GNSS (Global Satellite Navigation System) can measure position, speed and time, but it cannot provide stable and correct navigation information in the application scenarios where the aircraft’s working electromagnetic environment is complex or satellite signals are affected; INS (Inertial Navigation System) can realize position , speed and attitude measurement, but as a navigation method of integral calculation, there is an inherent defect that the error accumulates over time; and for the complex attitude movement of the spin aircraft, the performance of the INS sensor will be reduced

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