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Aerial in-flight alignment method for SINS/GPS combined navigation system

A technology of integrated navigation system and GPS antenna, which is applied in the field of air maneuver alignment of SINS/GPS integrated navigation system, which can solve the problems of decreased system accuracy, no improvement of navigation system accuracy, system divergence, etc., and achieve the effect of improving accuracy

Inactive Publication Date: 2006-04-26
BEIHANG UNIV
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Problems solved by technology

However, in the actual flight test, the ideal results of theoretical analysis are often not obtained. After air maneuvering and alignment, the accuracy of the SINS / GPS integrated navigation system has not improved, and even in some experiments, the air maneuvering alignment has caused the system to fail. This is mainly due to two reasons: one is that the phase center of the GPS antenna does not coincide with the measurement center of the SINS, and the relative velocity error between the two is caused when the carrier has angular motion; the other is that during the air maneuver alignment process, The changes in the observability of each state variable in the system are not the same, and the observability of some state variables has a small increase. If full feedback is performed at this time, the accuracy of the system will inevitably decrease, or even diverge.

Method used

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  • Aerial in-flight alignment method for SINS/GPS combined navigation system
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  • Aerial in-flight alignment method for SINS/GPS combined navigation system

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Embodiment Construction

[0035] Such as figure 1 , 2 , Shown in 3, concrete method of the present invention is as follows:

[0036] (1) The establishment of the mathematical model of the SINS / GPS integrated navigation system, including the system state equation and measurement equation, as shown in formula 1 and formula 2 respectively.

[0037] System state equation:

[0038] x & =FX+GW (1)

[0039] Among them, X is the system state vector, W is the system noise vector, F is the system transfer matrix, and G is the noise transfer matrix:

[0040] X=[φ x φ y φ z δv x δv y δv z δL δλ δh ε x ε y ε z  x  y  z ] T

[0041]

[0042] F = F INS F S O 6 × ...

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Abstract

The invention discloses an aerial motor alignment method of SINS / GPS combination navigation system, which is characterized by the following: supplementing the lever effect error of GPS observed quantity, which improves the precision of observed quantity; adapting the motor strategy of course variation; utilizing the singular value decomposition method to analyze each system observed degree variation of status variable; adapting the adaptive feedback strategy; adjusting feedback factor of system status variable according to the variation of observed degree; correcting the feedback factor. The invention is fit for the navigation precision improvement such as plane, missile and ship or vehicle combination navigation system.

Description

technical field [0001] The invention relates to an air maneuver alignment method of a SINS / GPS integrated navigation system, which can be used to improve the navigation accuracy of the SINS / GPS integrated navigation system used for aircraft, missiles, ships or ground vehicles. Background technique [0002] Strapdown Inertial Navigation System (SINS) is a completely autonomous navigation system that can provide position, velocity and attitude information continuously and in real time. It has high short-term accuracy, good concealment, and is not limited by weather conditions. , and thus widely used in aviation, aerospace, navigation and other fields. However, the SINS error increases with time, so it is often combined with the GPS global satellite positioning system to form a SINS / GPS integrated navigation system. In the SINS / GPS integrated navigation system, GPS can provide position and velocity information, but cannot provide attitude information. Since the position error ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00G01S19/03
Inventor 房建成刘百奇盛蔚张延顺曹娟娟宫晓琳
Owner BEIHANG UNIV
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