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Strapdown inertial navigation/spectrum red shift autonomous integrated navigation system and filtering method

A technology of integrated navigation system and strapdown inertial navigation, which is applied in the field of autonomous integrated navigation system and filtering, can solve the problems of unable to obtain enough observation information, temporary interruption of measurement signal, and inability to obtain measurement information, etc., to improve navigation positioning accuracy and filtering Calculation accuracy, application of extended space, good concealment effect

Pending Publication Date: 2021-08-24
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0009] However, with the single spectral redshift autonomous navigation method, during the attitude maneuvering process of the spacecraft, due to the inability to obtain sufficient observation information in a short period of time, or due to the interruption of observation information, the measurement information cannot be obtained, resulting in the deterioration of navigation accuracy, and even the result diverge
In addition, due to the occlusion of celestial bodies and other reasons, the measurement signal may be temporarily interrupted at certain times, resulting in the inability to solve the navigation parameters

Method used

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  • Strapdown inertial navigation/spectrum red shift autonomous integrated navigation system and filtering method
  • Strapdown inertial navigation/spectrum red shift autonomous integrated navigation system and filtering method
  • Strapdown inertial navigation/spectrum red shift autonomous integrated navigation system and filtering method

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Experimental program
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Embodiment

[0133] 1. Mathematical model of SINS / SRS autonomous integrated navigation system

[0134] (1) System state equation

[0135] The East-North-Up geographic coordinate system is selected as the navigation coordinate system, and the system state equation is

[0136]

[0137] In formula (38), X(t) is the system state vector, F(t) is the state transition matrix, G(t) is the noise transition matrix, W(t) is the noise matrix.

[0138]

[0139] In formula (39), the velocity errors in the east, north and sky directions are respectively δv E , δv N , δv U ; The latitude error, longitude error and height error are δL, δλ, δh respectively; the misalignment angle of the mathematical platform is φ E , φ N , φ U ; The constant drift of the gyroscope on the three coordinate axes is ε x , ε y , ε z , and the constant value offsets on the three coordinate axes of the accelerometer are respectively

[0140] The noise transfer matrix G(t) of the system is:

[0141]

[0142] T...

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Abstract

The invention provides a strapdown inertial navigation / spectral red shift autonomous integrated navigation system and a filtering method, which are characterized in that speed information and height information output by an SINS (strapdown inertial navigation system) are corrected by using high-precision speed information obtained by an SRS (sounding reference signal) and height information obtained by a barometric altimeter, navigation calculation is carried out by using provided adaptive random weighted cubature Kalman filtering, and the accuracy of navigation information is improved. The integrated navigation system disclosed by the invention has the advantages of strong autonomy, good concealment, high precision, strong reliability and the like, improves the precision of navigation filtering solution, and can be used for improving the navigation positioning precision and the filtering solution precision of spacecrafts in China; and the method not only plays an important role in improving the navigation and positioning precision of spacecrafts in China, reducing the operation cost and expanding the space application, but also plays an important role in improving the viability of the spacecrafts under the war condition.

Description

technical field [0001] The invention relates to the technical field of navigation and filtering, in particular to an autonomous integrated navigation system and a filtering method. Background technique [0002] At present, spacecraft navigation and positioning are mostly realized by ground measurement and control systems, which not only greatly increases the burden of ground measurement and control systems, but is not autonomous, and is vulnerable to enemy attacks during wartime, which reduces the survivability of spacecraft under war conditions. For this reason, vigorously developing high-precision and strong-autonomous navigation technology is not only an urgent need to meet the increasingly complex space missions, but also the key to improving the survivability of spacecraft and reducing operating costs, and is also of great significance to the application of space expansion. . Therefore, the demand for high-precision and strong autonomy navigation technology for spacecr...

Claims

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Application Information

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IPC IPC(8): G01C21/24G01C21/20G01C21/16G01C21/00
CPCG01C21/24G01C21/20G01C21/165G01C21/005
Inventor 高朝晖田雨高社生慕德俊杨嘉慧
Owner NORTHWESTERN POLYTECHNICAL UNIV
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