Integrated navigation method, device and system and storage medium
A technology that combines navigation and navigation parameters, applied in the field of navigation, can solve problems such as inaccurate navigation, and achieve the effect of improving navigation accuracy
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Embodiment 1
[0025] According to an embodiment of the present invention, a combined navigation method is provided, such as figure 1 As shown, the method includes:
[0026] Step S102, performing inertial calculation based on the inertial navigation data obtained from the inertial sensor provided on the flying object, to obtain the navigation parameters of the flying object;
[0027] Step S104, judging whether the satellite data is updated, if the satellite data is not updated, use the navigation parameters to navigate the flying object; if the satellite data is updated, based on the integrated navigation mathematical model and performing error correction on the inertial navigation data of the inertial sensor by using the satellite data, and performing inertia calculation by using the corrected inertial navigation data to obtain navigation parameters of the flying object, so as to navigate the flying object.
[0028] Through the above steps, based on the integrated navigation mathematical m...
Embodiment 2
[0046] According to the embodiment of the present invention, another combined navigation method is also provided, such as figure 2 As shown, the method includes:
[0047] Step S202, building a combined navigation model.
[0048] First select the error amount of the system as the state variable: position error ΔP, velocity error Δv, attitude error Accelerometer zero bias error Δa and gyro zero bias error Δω, the state equation is established as follows:
[0049]
[0050] ΔP in formula (1) k and ΔP k+1 are the position error at time k and k+1 respectively; ΔV k and ΔV k+1 are the velocity errors at time k and k+1, respectively; and are the attitude errors at time k and k+1 respectively; Δa k and Δa k+1 Respectively, the accelerometer zero bias error at time k and k+1; Δω k and Δω k+1 are the gyroscope zero bias errors at time k and k+1 respectively; B 1 、B 2 is the proportional coefficient of accelerometer zero bias error and gyro zero bias error; W k·ω , W ...
Embodiment 3
[0103] According to an embodiment of the present invention, another combined navigation method is provided. The difference between this embodiment and Embodiments 1 and 2 is that the data obtained by the inertial sensor is normalized and smoothed, and other processing steps are the same as those in Embodiments 1 and 2, and will not be repeated here. This embodiment will focus on the processing of inertial navigation data.
[0104] Such as image 3 As shown, the processing of inertial navigation data includes the following steps:
[0105] Step S301, setting the first sampling time.
[0106] Set the time setting range of the first sampling time, and use the first sampling time as the current sampling time. Set the time setting range of the first sampling time to 200ms.
[0107] Step S302, obtaining the maximum value, minimum value and average value of the original value of the inertial navigation data within the current sampling time.
[0108] Step S303, removing abnormal d...
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