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Sea-air rotation modulation inertial navigation/astronomical integrated navigation method

A technology of rotation modulation and integrated navigation, applied in the field of navigation, can solve problems such as filtering instability, achieve the effect of improving navigation accuracy and realizing fully autonomous navigation and positioning

Active Publication Date: 2021-07-13
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a completely autonomous global navigation solution, solve the filter instability problem caused by the conversion of the navigation coordinate system during the global navigation of large ships and large aircraft, realize the smooth transition of the system error state, and improve the navigation accuracy. And at the same time, the independence of the rotary modulation inertial navigation system and the astronomical navigation system is guaranteed, and more accurate navigation information is provided for the safe and reliable navigation of large ships and large aircraft

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  • Sea-air rotation modulation inertial navigation/astronomical integrated navigation method

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Embodiment Construction

[0112] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0113] Such as figure 1 As shown, a sea-air rotation modulation inertial navigation / astronomical integrated navigation method includes the following steps:

[0114] (1) Determine the navigation coordinate system and position representation mode of large ships and large aircraft in high latitude navigation areas, including the following steps:

[0115] (1.1) Determine the navigation coordinate system for large ships and large aircraft when navigating in high-latitude areas. The navigation coordinate system in high-latitude areas is determined as a grid coordinate system, where the grid coordinate system is defined as: the grid plane is parallel to the Greenwich meridian plane, The intersection line between it and the tangent plane at the position of the large ship and large aircraft is the north direction of the grid, and the angle be...

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Abstract

The invention belongs to the technical field of navigation, and discloses a sea-air rotation modulation inertial navigation / astronomy integrated navigation method, which is suitable for global navigation in the fields of navigation and aviation. According to the method, on the basis of the combined navigation filter under the geographic coordinate system and the grid coordinate system, the conversion relation of the system error state and the covariance matrix of the system error state between the two navigation coordinate systems is established, stable and smooth transition of the filtering state can be achieved, and the filtering state jumping problem in the coordinate system conversion process is avoided; and then the attitude information provided by the CNS serves as observed quantity, attitude errors of the RINS are estimated and corrected, and autonomy of the navigation process can be guaranteed. Besides, the designed filter adopts an open-loop structure, so that the independence of RINS and CNS system navigation information can be ensured, and global safe and reliable navigation of large ships and large aircrafts is met.

Description

technical field [0001] The invention belongs to the technical field of navigation, and relates to an inertial / astronomical integrated navigation method, in particular to a sea-air rotational modulation inertial navigation / astronomical integrated navigation method, which is suitable for global navigation in the fields of navigation and aviation. Background technique [0002] In recent years, the navigation and aviation manufacturing industries have made rapid progress, and large ships and large aircraft have gradually been used more and more in the military and civilian fields. For large ships and large aircraft, safe and reliable global navigation capability is an important indicator to measure their advanced nature. For this reason, when designing navigation systems for large ships and large aircrafts, it is necessary to conduct targeted research on the design issues of navigation systems. [0003] Large ships and large aircraft have higher requirements on the accuracy and...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/02
CPCG01C21/165G01C21/02
Inventor 王林魏国高春峰于旭东王国臣
Owner NAT UNIV OF DEFENSE TECH
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