Inertial Navigation Method for Inertial Navigation System

Abstract

The invention discloses an inertial navigation method for an inertial navigation system, which includes installing and initializing a target vehicle-mounted integrated navigation system on a vehicle; constructing a Kalman filter based on a centripetal force constraint; controlling the vehicle body to perform a set movement; the vehicle body The Kalman filter converges during the motion, and the inertial navigation method for the inertial navigation system is completed. The present invention constructs the complete constraint of inertial navigation through the Kalman filter, enhances the robustness of the inertial navigation scheme, and can effectively avoid the navigation failure problem of the prior art. At the same time, the method of the present invention can quickly turn the vehicle, accelerate and decelerate the vehicle body, etc. Harsh scenes provide better constraints, effectively ensuring the navigation accuracy of the inertial navigation system, and the present invention has high reliability, high compensation accuracy, and is simple and convenient.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to an inertial navigation method for an inertial navigation system. Background technique [0002] With the development of economy and technology and the improvement of people's living standards, navigation technology has been widely used in people's production and life, bringing endless convenience to people's production and life. Therefore, ensuring the accuracy and stability of the navigation process has become one of the most important tasks of the navigation system. [0003] In recent years, with the rapid development of intelligent transportation technologies represented by autonomous driving, intelligent robots, and unmanned aerial vehicles, the stability and reliability of navigation in complex environments such as urban canyon scenes, industrial high-rise park scenes, and tunnel scenes have become an urgent need to solve Key and difficult issues. [0004] Th...

AI Technical Summary

Problems solved by technology

[0005] However, the inertial navigation system INS in the current vehicle-mounted integrated navigation system generally assumes that there is no drifting motion during the driving process of the vehicle; however, when the vehicle encounters a sharp turn during actual driving, the vehicle will inevitably produce drifting motion , which will directly lead to a large error

At the same time, the current inertial navigation system INS does not consider any rapid acceleration and deceleration when navigating, which will also lead to deviations in attitude prediction and position prediction during navigation

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