Inertial navigation system point position correction method and device based on transverse geographical system

Abstract

The invention discloses an inertial navigation system point position correction method and device based on a transverse geography system, and the method comprises the steps: obtaining transverse longitude and latitude calculated by inertial navigation updating and angle measurement information measured by a gyroscope at the current navigation time, building a transverse geography system navigation drift error model, in combination with a conversion relation between navigation parameters of a transverse geographic coordinate system and a traditional geographic coordinate system, a navigation drift error compensation parameter is calculated through a transverse longitude error and a transverse latitude error, and the transverse longitude of inertial navigation update calculation and the transverse latitude of inertial navigation update calculation are corrected; the corrected transverse longitude and the corrected transverse latitude are obtained, navigation drift error compensation parameters are projected to a transverse geographic coordinate system, angle measurement information measured by a gyroscope is corrected, and corrected angle measurement information is obtained. According to the method, the inertial navigation high-latitude long-endurance navigation precision can be improved based on position correction and drift error suppression of high-latitude transverse geographical system long-endurance navigation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inertial navigation, in particular to a point position correction method and device for inertial navigation system based on transverse geographic system. BACKGROUND

[0002] In high latitude area inertial navigation, due to the rapid convergence of the earth meridian, especially the convergence of meridian into a point near the poles, the heading loses reference standard, resulting in that the traditional inertial navigation based on geographic system cannot represent the heading and longitude position information.

[0003] At present, one scheme for inertial navigation is to use the transverse geographic system as the navigation coordinate system, to perform high latitude long time navigation based on the transverse geographic system, and to compensate the inertial navigation divergence error over time.

[0004] Another scheme for inertial navigation takes the suppression of longitude error divergence as the correction criterion, calculates the equivalent gyro drift parameter of the laser inertial navigation divergence error over time and compensates it under the known fixed reference longitude and latitude position.

[0005] However, both of the two schemes are applicable to the point position correction of the inertial navigation based on the traditional geographic coordinate system, and are not applicable to the point position correction of the inertial navigation based on the high latitude transverse geographic coordinate system. SUMMARY

[0006] In view of the deficiencies in the prior art, the present application aims to provide a point position correction method and device for inertial navigation system based on transverse geographic system, to correct the position and suppress the drift error based on the high latitude transverse geographic system long time navigation, and to improve the navigation accuracy of the inertial navigation at high latitude.

[0007] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0008] According to a first aspect of the present application, a point position correction method for inertial navigation system based on transverse geographic system is provided, comprising: acquiring the transverse longitude reference value information and the transverse latitude reference value information of the external reference point position, the transverse longitude calculated by the inertial navigation update, the transverse latitude, and the angular measurement information measured by the gyro at the current navigation time; establishing a transverse geographic system navigation drift error model; acquiring the transverse longitude error and the transverse latitude error based on the transverse longitude reference value information and the transverse latitude reference value information of the external reference point position, the transverse longitude calculated by the inertial navigation update, and the transverse latitude, and calculating the navigation drift error compensation parameter through the transverse longitude error and the transverse latitude error based on the transverse geographic system navigation drift error model and the transformation relationship between the transverse geographic coordinate system and the navigation parameters of the traditional geographic coordinate system; Based on the lateral longitude error and the lateral latitude error, the lateral longitude and the lateral latitude calculated by the inertial navigation update are corrected to obtain a corrected lateral longitude and a corrected lateral latitude; The navigation drift error compensation parameters are projected into the transverse geographic coordinate system, and the angular measurement information of the gyro measurement is corrected to obtain the corrected angular measurement information.

[0009] In some embodiments of the present application, based on the aforementioned solution, establishing a lateral geographic navigation drift error model includes: The lateral geographic system navigation drift error model is obtained by strapdown based on the first navigation parameter corresponding to the geographic coordinate system and the second navigation parameter corresponding to the lateral geographic coordinate system. The first navigation parameter includes latitude and longitude, and the second navigation parameter includes lateral latitude and lateral longitude. The calculation formula is:

[0010]

[0011] Where, is the latitude, is the longitude, is the horizontal latitude, is the horizontal longitude, represents the longitude error, represents the latitude error, is the lateral latitude error, is the lateral longitude error.

[0012] In some embodiments of the present application, based on the aforementioned solution, the navigation drift error compensation parameter is calculated by solving the lateral longitude error and the lateral latitude error based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters, including: Establish the transformation relationship between the navigation parameters of the horizontal geographic coordinate system and the traditional geographic coordinate system:

[0013] Where, is the latitude, is the longitude, is the horizontal latitude, is the horizontal longitude; Establish navigation drift error compensation parameters and lateral geographic system navigation drift error model, as well as the navigation equivalent drift calculation model of the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters:

[0014]

[0015] Where, represents the longitude error, represents the latitude error, is the equivalent north gyro drift, is the equivalent celestial gyro drift, is the Earth's rotation angular rate, is the current navigation time; Based on the lateral geographic system navigation drift error model and the navigation equivalent drift calculation model, the navigation drift error compensation parameters are calculated:

[0016] Where, is the lateral latitude error, is the lateral longitude error.

[0017] In some embodiments of the present application, based on the aforementioned solution, the lateral longitude and lateral latitude calculated by the inertial navigation update are corrected based on the lateral longitude error and the lateral latitude error to obtain the corrected lateral longitude and the corrected lateral latitude, including: The calculation formula for the corrected transverse longitude is:

[0018] Where, Lateral longitude calculated for inertial navigation updates, is the lateral longitude error; The calculation formula for the corrected lateral latitude is:

[0019] Where, The lateral latitude calculated for the inertial navigation update, is the lateral latitude error.

[0020] In some embodiments of the present application, based on the aforementioned solution, projecting the navigation drift error compensation parameter into the transverse geographic coordinate system and correcting the angular measurement information measured by the gyro to obtain the corrected angular measurement information includes: Based on the inertial navigation update, the first attitude matrix of the carrier system b relative to the lateral geographic coordinate system is calculated, and the second attitude matrix of the lateral geographic coordinate system relative to the carrier system b is obtained: Correcting the angular increment vector measured by the gyro based on the navigation drift error compensation parameter, the second attitude matrix, and the transformation matrix between the navigation parameters of the lateral geographic coordinate system and the traditional geographic coordinate system to obtain a corrected angular increment vector;

[0021]

[0022] Where, is the angular increment vector measured by the gyroscope, and its scalar expansion is , is the angular increment of the carrier system b in the x-axis direction, is the angular increment of the carrier system b in the y-axis direction, is the angular increment of the carrier system b in the z-axis direction; is the correction angle increment vector, and its scalar expansion is , is the angular increment of the carrier system b in the x-axis direction after correction, is the angular increment of the carrier system b in the y-axis direction after correction, is the angular increment of the carrier system b in the z-axis direction after correction; is the second posture matrix, is the equivalent north gyro drift, is the equivalent celestial gyro drift, is the transformation matrix.

[0023] In some embodiments of the present application, based on the above solution, the calculation formula for obtaining the second attitude matrix of the lateral geographic coordinate system relative to the carrier system b is: ; Where, is the first posture matrix, To transpose.

[0024] In some embodiments of the present application, based on the above solution, the transformation matrix is:

[0025] in

[0026] Where, is the lateral angle, is the latitude, is the longitude, is the horizontal latitude, is the horizontal longitude.

[0027] According to a second aspect of the present application, there is provided an inertial navigation system point position correction device based on a transverse geographic system, the device comprising: An information acquisition module is used to obtain the lateral longitude reference value information, lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by inertial navigation update, and the angular measurement information of the gyro measurement at the current navigation time; Model building module, used to build the lateral geographic system navigation drift error model; A solution module is used to obtain the lateral longitude error and lateral latitude error based on the lateral longitude reference value information and lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by the inertial navigation update, and solve the navigation drift error compensation parameter through the lateral longitude error and lateral latitude error based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters; A first correction module is used to correct the lateral longitude and the lateral latitude calculated by the inertial navigation update based on the lateral longitude error and the lateral latitude error to obtain a corrected lateral longitude and a corrected lateral latitude; The second correction module is used to project the navigation drift error compensation parameter into the transverse geographic coordinate system, correct the angle measurement information measured by the gyro, and obtain corrected angle measurement information.

[0028] According to a third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the above method is implemented.

[0029] According to a fourth aspect of the present application, an electronic device is provided, including: one or more processors; The memory is used to store executable instructions of the processor, and when the executable instructions are executed by the one or more processors, the one or more processors implement the above method.

[0030] The beneficial effects of this application are as follows: This application provides a method and device for correcting inertial navigation system point positions based on a transverse geographic system. This method uses a high-latitude transverse geographic coordinate system under the Earth ellipsoid model. Based on the transverse geographic system navigation drift error model and the transformation relationship between the transverse geographic coordinate system and the navigation parameters of the traditional geographic coordinate system, the method calculates navigation drift error compensation parameters from the transverse longitude error and the transverse latitude error. Through long-duration autonomous navigation and single-point position correction tests, the equivalent gyro drift parameters are identified. The equivalent gyro drift parameters are the transverse longitude error and the transverse latitude error. These parameters are then compensated online during the transverse geographic system inertial navigation process to obtain corrected transverse longitude, corrected transverse latitude, and corrected angle measurement information. This method not only corrects the transverse system navigation position error, but also suppresses the high-latitude navigation drift error, thereby improving navigation accuracy.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings: Figure 1 This is a flow chart of a method for correcting point positions of an inertial navigation system based on a transverse geographic system according to the present invention; Figure 2 A horizontal geographic coordinate system diagram defined based on the earth ellipsoid model of the present invention; Figure 3 This is a flow chart of an inertial navigation system point position correction device based on a transverse geographic system according to the present invention; Figure 4 Schematic diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] It should be understood that the terms "including" and "comprising" and other similar expressions in the specification, claims, and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, or apparatus comprising a series of steps or units is not limited to the listed steps or units. In addition, the terms "first" and "second" are used to distinguish between different objects and are not intended to describe a specific order.

[0035] See also Figure 1 , shows a flow chart of a method and apparatus for correcting an inertial navigation system point position based on a transverse geographic system. This embodiment provides a method for correcting an inertial navigation system point position based on a transverse geographic system, comprising: Step S1: at the current navigation time, obtain the lateral longitude reference value information, lateral latitude reference value information of the external reference point position, the lateral longitude, lateral latitude calculated by inertial navigation update, and the angular measurement information of the gyro measurement.

[0036] In some implementations of this embodiment, Figure 2As shown, the definition of the horizontal geographic coordinate system in the present invention and the relationship between the navigation parameters of the horizontal geographic coordinate system and the navigation parameters of the geographic coordinate system are clarified: The traditional earth coordinate system e system, The axis is at the intersection of the Earth's equator and the prime meridian, pointing from the center of the Earth in the direction of 0 degrees of longitude; The axis should point towards the equator at 90 degrees east longitude; The axis is perpendicular to the equatorial plane and points from the center of the Earth toward the North Pole; axis, axis, The axis satisfies the right-hand rule.

[0037] Transverse Earth Coordinate System System, also called inverse coordinate system, Axis and Axis coincidence, Axis and Axis coincidence, Axis and Axes coincide. According to the transverse earth coordinate system The relationship between the traditional earth coordinate system e and the traditional earth coordinate system e shows the following rotation relationship: the traditional earth coordinate system e rotates around The axis rotates minus 90 degrees to obtain the coordinate system ; Coordinate system Around The axis rotates minus 90 degrees to obtain the horizontal earth coordinate system .

[0038] With the transverse earth coordinate system The establishment of the Earth's polar axis The axis becomes Axis, new polar axis The direction of the horizontal north is defined as the horizontal north. With the definition of the horizontal north, the horizontal geographic coordinate system Compared with the conventional Northeastern geographic coordinate system Reference to the traditional "Northeastern Sky" (ENU) geographic coordinate system Definition of horizontal geographic coordinate system The definition of the local horizontal plane is based on the Earth reference ellipsoid: Assume that the carrier is located at point P, PP0 is the normal of the local horizontal plane, which is the same as The axis (the earth's axis) intersects at point Q, and M is the projection of point P on the transverse equatorial plane. The angle between PP0 and the transverse equatorial plane is defined as the transverse latitude. , QM and The angle between the axes is the transverse longitude , horizontal height The intersection of the PQM plane and the local horizontal plane points to the lateral North Pole. The direction is defined as the transverse north direction ( ), P0P refers to the direction of the sky as the horizontal direction ( ), horizontally eastward ( ) together with the horizontal north and horizontal ground direction form a right-hand coordinate system, thereby establishing a horizontal geographic coordinate system .

[0039] In some implementations of this embodiment, the external reference point is a reference point that can be acquired in real time through satellite navigation, or is a reference point that has been measured in advance using satellite navigation or other positioning means.

[0040] Step S2: Establish a lateral geographic navigation drift error model.

[0041] In some implementations of this embodiment, establishing a lateral geographic navigation drift error model includes: The lateral geographic system navigation drift error model is obtained by strapdown based on the first navigation parameter corresponding to the geographic coordinate system and the second navigation parameter corresponding to the lateral geographic coordinate system. The first navigation parameter includes latitude and longitude, and the second navigation parameter includes lateral latitude and lateral longitude. The calculation formula is: (1) (2) Where, is the latitude, is the longitude, is the horizontal latitude, is the horizontal longitude, represents the longitude error, represents the latitude error, is the lateral latitude error, is the lateral longitude error.

[0042] In some implementations of this embodiment, due to the horizontal earth coordinate system The system can be converted from the traditional earth coordinate system e system. When obtaining the latitude and longitude Lateral latitude and transverse longitude Able to pass latitude and longitude Get.

[0043] Step S3: Based on the lateral longitude reference value information and lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by the inertial navigation update, the lateral longitude error and lateral latitude error are obtained; based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters, the navigation drift error compensation parameters are calculated through the lateral longitude error and the lateral latitude error.

[0044] In some implementations of this embodiment, the lateral longitude error is obtained by the difference between the lateral longitude reference value information based on the external reference point position and the lateral longitude calculated by the inertial navigation update; the lateral latitude error is obtained by the difference between the lateral latitude reference value information based on the external reference point position and the lateral latitude calculated by the inertial navigation update.

[0045] In some implementations of this embodiment, the navigation drift error compensation parameter is calculated by solving the lateral longitude error and the lateral latitude error based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters, including: Establish the transformation relationship between the navigation parameters of the horizontal geographic coordinate system and the traditional geographic coordinate system: (3) but (4).

[0046] Establish navigation drift error compensation parameters and lateral geographic system navigation drift error model, as well as the navigation equivalent drift calculation model of the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters: (5) (6) Where, is the equivalent north gyro drift, is the equivalent celestial gyro drift, is the Earth's rotation angular rate, is a constant, approximately , The current navigation time.

[0047] Based on the lateral geographic navigation drift error model and the navigation equivalent drift calculation model, equations (1) to (6) are combined to obtain: (7) (8) The navigation drift error compensation parameters are obtained by solving equations (7) and (8): (9) (10) Where, is the lateral latitude error, is the lateral longitude error.

[0048] In some implementations of this embodiment, in some implementations of this embodiment, in the horizontal latitude , the horizontal longitude is The position of the laser inertial navigation long-term autonomous navigation and single-point position correction are carried out at the current navigation time. The horizontal longitude error and lateral latitude error , substituting into equation (9) and equation (10) we can get and , correct the position error at the time of single-point position correction and complete the single-point correction operation.

[0049] Step S4: Based on the lateral longitude error and the lateral latitude error, the lateral longitude and the lateral latitude calculated by the inertial navigation update are corrected to obtain a corrected lateral longitude and a corrected lateral latitude.

[0050] In some implementations of this embodiment, obtaining the lateral longitude error and the lateral latitude error, and correcting the lateral longitude and the lateral latitude calculated by the inertial navigation update to obtain the corrected lateral longitude and the corrected lateral latitude include: The calculation formula for the corrected transverse longitude is: (15) Where, Lateral longitude calculated for inertial navigation updates, is the lateral longitude error; The calculation formula for the corrected lateral latitude is: (16) Where, The lateral latitude calculated for the inertial navigation update, is the lateral latitude error.

[0051] Step S5: Projecting the navigation drift error compensation parameter to the transverse geographic coordinate system, correcting the angular measurement information of the gyro measurement, and obtaining corrected angular measurement information.

[0052] In some implementations of this embodiment, projecting the navigation drift error compensation parameter into the transverse geographic coordinate system and correcting the angular measurement information measured by the gyro to obtain the corrected angular measurement information includes: Based on the inertial navigation update, the first attitude matrix of the carrier system b relative to the lateral geographic coordinate system is calculated, and the second attitude matrix of the lateral geographic coordinate system relative to the carrier system b is obtained: Correcting the angular increment vector measured by the gyro based on the navigation drift error compensation parameter, the second attitude matrix, and the transformation matrix between the navigation parameters of the lateral geographic coordinate system and the traditional geographic coordinate system to obtain a corrected angular increment vector; (11) (12) Where, is the angular increment vector measured by the gyroscope, and its scalar expansion is , is the angular increment of the carrier system b in the x-axis direction, is the angular increment of the carrier system b in the y-axis direction, is the angular increment of the carrier system b in the z-axis direction; is the correction angle increment vector, and its scalar expansion is , is the angular increment of the carrier system b in the x-axis direction after correction, is the angular increment of the carrier system b in the y-axis direction after correction, is the angular increment of the carrier system b in the z-axis direction after correction; is the second posture matrix, is the equivalent north gyro drift, is the equivalent celestial gyro drift, is the transformation matrix.

[0053] In some implementations of this embodiment, the calculation formula for obtaining the second posture matrix of the lateral geographic coordinate system relative to the carrier system b is: (13) Where, is the first posture matrix, To transpose.

[0054] In this embodiment, the carrier system b system is usually defined as the carrier forward direction as the x-axis, the right side as the y-axis, and the upward direction as the z-axis. The first attitude matrix of the carrier system b system relative to the horizontal geographic coordinate system is calculated based on the inertial navigation update. Calculated by navigation update.

[0055] In some implementations of this embodiment, the transformation matrix is: (14) in (15) Where, is the horizontal angle.

[0056] Thus, this embodiment uses a high-latitude lateral geographic coordinate system based on the Earth ellipsoid model. Based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the navigation parameters of the traditional geographic coordinate system, the navigation drift error compensation parameters are calculated by resolving the lateral longitude error and lateral latitude error. Through long-duration autonomous navigation and single-point position correction experiments, the equivalent gyro drift parameters are identified. The equivalent gyro drift parameters are the lateral longitude error and lateral latitude error. These are then compensated online during the lateral geographic system inertial navigation process to obtain corrected lateral longitude, corrected lateral latitude, and corrected angle measurement information. This method not only corrects the lateral system navigation position error, but also suppresses the high-latitude navigation drift error, thereby improving navigation accuracy.

[0057] According to the second aspect of this application, Figure 3 As shown, this embodiment provides an inertial navigation system point position correction device based on a transverse geographic system, the device comprising: An information acquisition module is used to obtain the lateral longitude reference value information, lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by inertial navigation update, and the angular measurement information of the gyro measurement at the current navigation time; Model building module, used to build the lateral geographic system navigation drift error model; A solution module is used to obtain the lateral longitude error and lateral latitude error based on the lateral longitude reference value information and lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by the inertial navigation update, and solve the navigation drift error compensation parameter through the lateral longitude error and lateral latitude error based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters; A first correction module is used to correct the lateral longitude and the lateral latitude calculated by the inertial navigation update based on the lateral longitude error and the lateral latitude error to obtain a corrected lateral longitude and a corrected lateral latitude; The second correction module is used to project the navigation drift error compensation parameter into the transverse geographic coordinate system, correct the angle measurement information measured by the gyro, and obtain corrected angle measurement information.

[0058] Specifically, this embodiment corresponds one-to-one to the above method embodiment, and the functions of each module have been described in detail in the corresponding method embodiment, so they will not be repeated here.

[0059] According to the third aspect of the present application, this embodiment provides a computer-readable storage medium on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the above method is implemented.

[0060] The present invention may implement all or part of the above-described method processes by instructing related hardware through a computer program. The computer program may be stored in a computer-readable storage medium. When executed by a processor, the computer program may implement the steps of each of the above-described method embodiments. The computer program includes computer program code, which may be in source code form, object code form, an executable file, or some intermediate form. Computer-readable media may include any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signals, telecommunications signals, and software distribution media. It should be noted that the content of a computer-readable medium may be appropriately expanded or reduced based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media do not include electric carrier signals or telecommunications signals.

[0061] According to a fourth aspect of the present application, an electronic device is provided, such as Figure 4 Shown, including: one or more processors; The memory is used to store executable instructions of the processor. When the executable instructions are executed by one or more processors, the one or more processors implement the above method.

[0062] The electronic device is implemented as a general-purpose computing device. Components of the electronic device may include, but are not limited to, the at least one processor, the at least one memory, and a bus connecting different device components (including the memory and the processor).

[0063] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of a computer device, connecting all parts of the entire computer device using various interfaces and circuits.

[0064] The memory can be used to store computer programs and / or modules. The processor implements the various functions of the computer device by running or executing the computer programs and / or modules stored in the memory and accessing the data stored in the memory. The memory may primarily include a program storage area and a data storage area. The program storage area may store applications required to operate the device and at least one function (e.g., sound playback, image playback, etc.); the data storage area may store data generated based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, the memory may include high-speed random access memory (RAM) and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0065] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatuses, servers, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and memory) containing computer-usable program code.

[0066] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0067] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0069] It should be understood that the sequence numbers of the steps in the above embodiments do not imply a specific order of execution; the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0070] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0071] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for correcting the position of an inertial navigation system point based on a transverse geographic system, characterized in that: include: At the current navigation time, obtain the lateral longitude reference value information, lateral latitude reference value information of the external reference point position, lateral longitude, lateral latitude calculated by inertial navigation update, and angular measurement information of gyro measurement; Establish a lateral geographic navigation drift error model; Based on the lateral longitude reference value information and lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by the inertial navigation update, the lateral longitude error and lateral latitude error are obtained; based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters, the navigation drift error compensation parameters are calculated through the lateral longitude error and the lateral latitude error; Based on the lateral longitude error and the lateral latitude error, the lateral longitude and the lateral latitude calculated by the inertial navigation update are corrected to obtain a corrected lateral longitude and a corrected lateral latitude; The navigation drift error compensation parameters are projected into the transverse geographic coordinate system, and the angular measurement information of the gyro measurement is corrected to obtain the corrected angular measurement information.

2. The method for correcting inertial navigation system point positions based on a transverse geographic system according to claim 1, characterized in that: The step of establishing a lateral geographic navigation drift error model comprises: The lateral geographic system navigation drift error model is obtained by strapdown based on the first navigation parameter corresponding to the geographic coordinate system and the second navigation parameter corresponding to the lateral geographic coordinate system. The first navigation parameter includes latitude and longitude, and the second navigation parameter includes lateral latitude and lateral longitude. The calculation formula is: Where, is the latitude, is the longitude, is the horizontal latitude, is the horizontal longitude, represents the longitude error, represents the latitude error, is the lateral latitude error, is the lateral longitude error.

3. The method for correcting inertial navigation system point positions based on a transverse geographic system according to claim 1, characterized in that: The navigation drift error compensation parameter is calculated by solving the lateral longitude error and the lateral latitude error based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters, including: Establish the transformation relationship between the navigation parameters of the horizontal geographic coordinate system and the traditional geographic coordinate system: Where, is the latitude, is the longitude, is the horizontal latitude, is the horizontal longitude; Establish navigation drift error compensation parameters and lateral geographic system navigation drift error model, as well as the navigation equivalent drift calculation model of the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters: Where, represents the longitude error, represents the latitude error, is the equivalent north gyro drift, is the equivalent celestial gyro drift, is the Earth's rotation angular rate, is the current navigation time; Based on the lateral geographic system navigation drift error model and the navigation equivalent drift calculation model, the navigation drift error compensation parameters are calculated: Where, is the lateral latitude error, is the lateral longitude error.

4. The method for correcting inertial navigation system point positions based on a transverse geographic system according to claim 1, wherein: The method of correcting the lateral longitude and the lateral latitude calculated by the inertial navigation update based on the lateral longitude error and the lateral latitude error to obtain the corrected lateral longitude and the corrected lateral latitude includes: The calculation formula for the corrected transverse longitude is: Where, Lateral longitude calculated for inertial navigation updates, is the lateral longitude error; The calculation formula for the corrected lateral latitude is: Where, The lateral latitude calculated for the inertial navigation update, is the lateral latitude error.

5. The method for correcting inertial navigation system point positions based on a transverse geographic system according to claim 1, characterized in that: The projecting of the navigation drift error compensation parameter into the transverse geographic coordinate system and the correction of the angular measurement information of the gyro measurement to obtain the corrected angular measurement information include: Based on the inertial navigation update, the first attitude matrix of the carrier system b relative to the lateral geographic coordinate system is calculated, and the second attitude matrix of the lateral geographic coordinate system relative to the carrier system b is obtained: Correcting the angular increment vector measured by the gyro based on the navigation drift error compensation parameter, the second attitude matrix, and the transformation matrix between the navigation parameters of the lateral geographic coordinate system and the traditional geographic coordinate system to obtain a corrected angular increment vector; Where, is the angular increment vector measured by the gyroscope, and its scalar expansion is , is the angular increment of the carrier system b in the x-axis direction, is the angular increment of the carrier system b in the y-axis direction, is the angular increment of the carrier system b in the z-axis direction; is the correction angle increment vector, and its scalar expansion is , is the angular increment of the carrier system b in the x-axis direction after correction, is the angular increment of the carrier system b in the y-axis direction after correction, is the angular increment of the support system b in the z-axis direction after correction; is the second posture matrix, is the equivalent north gyro drift, is the equivalent celestial gyro drift, is the transformation matrix.

6. The method for correcting inertial navigation system point positions based on a transverse geographic system according to claim 5, characterized in that: The calculation formula for obtaining the second attitude matrix of the lateral geographic coordinate system relative to the carrier system b is: ； Where, is the first posture matrix, To transpose.

7. The method for correcting inertial navigation system point positions based on a transverse geographic system according to claim 5, characterized in that: The transformation matrix is: in Where, is the lateral angle, is the latitude, is the longitude, is the horizontal latitude, is the horizontal longitude.

8. An inertial navigation system point position correction device based on a transverse geographic system, characterized in that: The device comprises: An information acquisition module is used to obtain the lateral longitude reference value information, lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by inertial navigation update, and the angular measurement information of the gyro measurement at the current navigation time; Model building module, used to build the lateral geographic system navigation drift error model; A solution module is used to obtain the lateral longitude error and lateral latitude error based on the lateral longitude reference value information and lateral latitude reference value information of the external reference point position, the lateral longitude and lateral latitude calculated by the inertial navigation update, and solve the navigation drift error compensation parameter through the lateral longitude error and lateral latitude error based on the lateral geographic system navigation drift error model and the transformation relationship between the lateral geographic coordinate system and the traditional geographic coordinate system navigation parameters; A first correction module is used to correct the lateral longitude and the lateral latitude calculated by the inertial navigation update based on the lateral longitude error and the lateral latitude error to obtain a corrected lateral longitude and a corrected lateral latitude; The second correction module is used to project the navigation drift error compensation parameter into the transverse geographic coordinate system, correct the angle measurement information measured by the gyro, and obtain corrected angle measurement information.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program includes executable instructions, and when the executable instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: one or more processors; A memory for storing executable instructions of the processor, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

Images