Inertial/Gravity Matching Combination Method Based on Robust Point Group Filtering
A gravity matching and combination method technology, applied in the field of inertial navigation, can solve the problems of low precision, difficulty in providing other information, poor real-time performance, etc., and achieve the effect of high calculation accuracy and calculation efficiency
Active Publication Date: 2021-10-29
NAT UNIV OF DEFENSE TECH
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[0007] The present invention aims at the problems of poor real-time performance, low precision, poor robustness, and difficulty in providing information other than position in the currently commonly used inertial / gravity matching combination method, and proposes an inertial / gravity matching based on robust point group filtering combination method
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[0040] The technical solution of the present invention will be described clearly and completely through the following embodiments. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.
[0041] The inertial / gravity matching combination method based on robust point group filtering includes the following steps:
[0042] Step S1: Considering the horizontal motion of the water surface carrier, establish a two-stage filtering model for inertia / gravity matching, where the first-stage filtering focuses on position information, and the second-stage filtering outputs complete information. The two-stage filtering model is established as follows:
[0043] First-level filtering model construction:
[0044] Denote the position of the s...
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The invention belongs to the technical field of inertial navigation, relates to an inertial / gravity combination method, and discloses an inertial / gravity matching combination method based on robust point group filtering. The present invention processes the output results of the inertial navigation system and the gravity measurement system installed on the carrier to obtain navigation information such as the matched position, which mainly includes the following steps: first, establish a two-stage filtering model; and the gravity map reading results of the position indicated by the inertial navigation are extracted; again, the results obtained in the previous step are substituted into the first-level filtering model for processing; finally, the results obtained in the previous step are substituted into the second-level filtering model for calculation to realize inertial navigation information corrections and filter updates. The invention can obtain matching results in real time under the condition of carrier maneuvering, and has the advantages of high calculation efficiency, high precision, comprehensive navigation information provision, strong robustness and the like.
Description
Technical field: [0001] The invention belongs to the technical field of inertial navigation, relates to an inertial / gravity combination method, in particular to an inertial / gravity matching combination method based on robust point group filtering. Background technique: [0002] The inertial navigation system has the advantages of high precision, all-weather, and complete autonomy, and is widely used in aviation, aerospace, ship and ground vehicle navigation. In order to passively correct the error accumulation of the inertial navigation system, we can make full use of the rich characteristic information of the earth's gravity field, and use the matching technology to obtain the positioning in the area where the gravity reference map has been prepared in advance, taking the spatial variation characteristics of the gravity field as a reference Information, so as to passively correct the error accumulation of the inertial navigation system, which is an effective means to improv...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 曹聚亮吴美平罗凯鑫蔡劭琨于瑞航穆华郭妍熊志明范颖
Owner NAT UNIV OF DEFENSE TECH