Pre-estimation correction method based on inertial integrated navigation data

A technology of navigation data and inertial combination, applied in the field of navigation, can solve the problems of low sensitivity and precision of inertial navigation data processing, and achieve the effect of preventing interference and improving sensitivity

Active Publication Date: 2022-01-18
BEIJING CHERILEAD TECH
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Problems solved by technology

[0008] The present invention provides a prediction and correction method based on inertial integrated navigation data, which is used to solve the problem of low sensitivity and precision of inertial navigation data processing in the prior art

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  • Pre-estimation correction method based on inertial integrated navigation data
  • Pre-estimation correction method based on inertial integrated navigation data
  • Pre-estimation correction method based on inertial integrated navigation data

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Embodiment Construction

[0060] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0061] An embodiment of the present invention provides a method for estimation and correction based on inertial integrated navigation data, figure 1 It is a flowchart of an estimation correction method based on inertial integrated navigation data in an embodiment of the present invention, please refer to figure 1 , the method includes the following steps:

[0062] S100, performing data processing on the input inertial navigation data, and obtaining the evolution trend of the inertial navigation data;

[0063] S200, within the preset time threshold range, acquire new inertial navigation data, and judge whether the number of times the new inertial navigation data mat...

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Abstract

The invention discloses a pre-estimation correction method based on inertial integrated navigation data, the method comprises the following steps: carrying out data processing on input inertial navigation data to obtain an evolution trend of the inertial navigation data; acquiring new inertial navigation data within a preset time threshold range, judging whether the number of times of matching the new inertial navigation data with the evolution trend is within a preset range, if so, setting the evolution trend as the current evolution trend of the inertial navigation data, and if not, executing a new inertial navigation data execution step, performing data processing on the input inertial navigation data, obtaining the evolution trend process of the inertial navigation data, and using the new evolution trend as the current evolution trend. Through continuous input of inertial navigation data, the evolution trend of navigation data is calculated, newly input navigation data is estimated and corrected, and abnormal data or unreasonable data is prevented from influencing navigation. The time threshold range is set, the navigation evolution trend is re-determined, interference of the original trend is prevented, and the sensitivity is improved.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a method for estimation and correction based on inertial integrated navigation data. Background technique [0002] The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transforming it into the navigation coordinate system, the position in the navigation coordinate system can be obtained. Information such as speed, yaw angle and position. As the third generation of inertial navigation sensor material - the emergence of MEMS (micro-electromechanical system), and the development and improvement of the strapdown inertial navigation theory, the miniaturization of the navigation system can be realized. [0003] Inertial navigation data (inertial navigation data) is an external data source. The data itself has high requirements on hardwar...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/00
Inventor 张凯郑应强赵晗
Owner BEIJING CHERILEAD TECH
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