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Navigation method, device and system of flying body

A navigation method and flying body technology, applied in the field of computer navigation, can solve problems such as poor real-time performance, and achieve the effect of solving poor real-time performance and improving real-time performance

Active Publication Date: 2021-09-24
BEIJING INFORMATION SCI & TECH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a navigation method, device and system for flying objects, to at least solve the technical problem of poor real-time performance due to the need to calculate the Jacobian matrix each time during navigation

Method used

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  • Navigation method, device and system of flying body
  • Navigation method, device and system of flying body

Examples

Experimental program
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Effect test

Embodiment 1

[0022] According to an embodiment of the present invention, a flow chart of an AEKF (adaptive Kalman filter algorithm) based high-speed spinning flying object integrated navigation method is provided, such as figure 1 As shown, the method includes:

[0023] Step S101, system initialization, setting relevant navigation parameters.

[0024] Step S102, perform initial alignment, and obtain the initial velocity, position and attitude of the flying object.

[0025] Step S103, establishing a combined navigation model.

[0026] 1) State volume construction

[0027] In order to improve the real-time performance of the integrated navigation, the linear model is obtained by using the Taylor series expansion of the nonlinear functions of the system equation and the measurement equation and only retaining the linear items.

[0028] Different from the traditional EKF (Extended Kalman Filter) modeling method, it can avoid calculating the Jacobian matrix every time, and directly select th...

Embodiment 2

[0074] According to an embodiment of the present invention, a flow chart of another flying object navigation method is provided, such as figure 2 As shown, the method includes:

[0075] Step S202, acquiring motion state information of the flying object.

[0076] For example, the speed, attitude, and position information of the flying object are obtained through the GPS system, and / or the speed, attitude, and position information of the flying object are obtained through the inertial navigation system.

[0077] Step S204, estimating at least one of system noise and measurement noise based on the pre-built integrated navigation model and the motion state information.

[0078] Wherein, the integrated navigation model is constructed by the following methods: constructing the state quantity based on the error quantity of the inertial navigation system; constructing the observation quantity based on the measurement parameters of the GPS system.

[0079] In an exemplary embodiment...

Embodiment 3

[0083] According to an embodiment of the present disclosure, a navigation device for implementing the methods in Embodiment 1 and Embodiment 2 above is also provided, such as image 3 As shown, the navigation device 300 includes:

[0084] The obtaining module 32 is configured to obtain the motion state information of the flying object.

[0085] The estimation module 34 is configured to estimate at least one of system noise and measurement noise based on the pre-built integrated navigation model and the motion state information;

[0086] The navigation module 36 is configured to correct the inertial navigation data of the inertial navigation system based on at least one of the estimated system noise and the measurement noise, and navigate the flying object based on the corrected inertial navigation data.

[0087] In one embodiment of the present disclosure, the navigation device 300 further includes a model building module, configured to construct a state quantity based on the...

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Abstract

The invention discloses a navigation method, device and system of a flying body. The method comprises the following steps: acquiring motion state information of the flying body; estimating at least one of system noise and measurement noise based on a pre-constructed combined navigation model and the motion state information; and correcting inertial navigation data of an inertial navigation system based on at least one of the estimated system noise and the measured noise, and navigating the flying body based on the corrected inertial navigation data. The technical problem that the real-time performance is poor due to the fact that the Jacobian matrix needs to be calculated every time during navigation is solved.

Description

technical field [0001] The present invention relates to the field of computer navigation, in particular to a navigation method, device and system for flying objects. Background technique [0002] There are certain difficulties in the guidance process of high-speed spinning flying objects. The rolling angle of the rocket is large, and it is difficult for the satellite to capture the signal; the rolling angle of the rocket is too large during the flight, which requires a large dynamic measurement range and requires high precision for the gyroscope. [0003] With integrated navigation scheme, EKF filtering method is usually used. In the process of building the model, since the system is a nonlinear system, it needs to be linearized, but the use of Jacobian matrix operation has a certain impact on real-time performance; in addition, in the process of using the EKF filter algorithm, the system noise matrix Q cannot be , The measurement noise matrix R is estimated in real time, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01C21/18G01C21/00G01C25/00G01S19/47G01S19/39
CPCG01C21/20G01C21/165G01C21/18G01C21/183G01C21/005G01C25/005G01S19/47G01S19/393
Inventor 刘宁董一平苏中李擎刘福朝戚文昊李羚赵辉
Owner BEIJING INFORMATION SCI & TECH UNIV
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