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Method based on filter of self-adapting closed loop for modifying navigator combined between big dipper double star and strapping inertial guidance

An integrated navigation system and strapdown inertial navigation technology, which is applied in the field of correction of the Beidou dual-star/strapdown inertial navigation system based on the adaptive closed-loop H∞ filter, which can solve the problem of the short construction time and data jump of the Beidou navigation system. Problems such as many change points and imperfect receiver error model

Inactive Publication Date: 2007-02-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] Due to the short completion time of the Beidou navigation system and the reasons of its own system, the Beidou receiver developed at this stage has problems such as large output colored noise and many data jump points compared with mature products such as GPS abroad, and the receiver The error model of the
Therefore, if the BDNS / SINS integrated navigation system adopts the commonly used Kalman filter, it will face the problem of inaccurate filtering model, which affects the final effect of the combination
Aiming at the inaccurate or difficult modeling of the filtering model of this multi-sensor combination system, H ∞ Filtering (see Wan Zhengang, Zhou Bailing, Ma Yunfeng, "Adaptive Joint H ∞ Filter and its application in integrated navigation system", "Journal of Southeast University", 2004, 34(5): 623-626; Duan Zhiyong, Yuan Xin, "H ∞ Application Research of Filtering in GPS / INS Integrated Navigation System", "Journal of Nanjing University of Aeronautics and Astronautics", 2000, 32(2): 189-193), but due to H ∞ The uncertainty of the solution of the filtering itself (Zhang Ming, Shi Dinghan, "H ∞ Filter—Criterion and Design Scheme Based on Algebraic Riccati Inequality", "Control Theory and Application", 1999, 16(5): 711-714), which often leads to poor filtering accuracy and affects the filtering results, thus limiting Its application in engineering practice

Method used

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  • Method based on filter of self-adapting closed loop for modifying navigator combined between big dipper double star and strapping inertial guidance
  • Method based on filter of self-adapting closed loop for modifying navigator combined between big dipper double star and strapping inertial guidance
  • Method based on filter of self-adapting closed loop for modifying navigator combined between big dipper double star and strapping inertial guidance

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Embodiment 1

[0084] This example uses adaptive H ∞ Sports car test of filter-corrected Beidou / SINS integrated navigation system. Sports car time: the morning of November 19, 2005; sports car route: Depart from the southern suburbs of Xi'an, arrive at Hu County via Xihu Expressway, and then return to the origin along Xifeng Highway, which lasts about 90 minutes. The sports car route is as follows: Figure 13 shown. In this example, the IMU of the strapdown inertial navigation system is composed of a flexible gyroscope with medium and low precision and a quartz piezoelectric accelerometer. The nominal accuracy is: gyroscope 0.2 degrees / hour, accelerometer 10 -4 g.

[0085] In order to effectively illustrate the correction effect of this method on navigation errors, the original data of Beidou and IMU were recorded during the sports car, so that the dynamic data of the sports car can be used for multiple reading file calculations afterwards, and different algorithms can be performed on the ...

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Abstract

A method for revising integrated navigation system of Plough double star / strap down inertial navigation based on adaptive closed loop H filter includes utilizing inertial measuring component in SINS / BDNS integrated navigation system to measure angular speed signal and linear acceleration signal of carrier, obtaining speed and position of carrier by Plough receiver in utilizing Plough satellite information, carrying out strap down inertial operation by navigation computer according to obtained information to let adaptive closed loop H filter carry out revision on integrated navigation system.

Description

1. Technical field [0001] The invention relates to a method for correcting a Beidou dual-star / strapdown inertial navigation combined navigation system, in particular to a method for correcting it by using a robust filter combination in the satellite / strapdown inertial navigation combined system. 2. Background technology [0002] Beidou Navigation System (BeiDou Naigation System, referred to as BDNS) is the first generation of satellite navigation system independently developed by my country, which obtains the position and speed of the carrier through radio ranging. The Strapdown Inertial Navigation System (SINS for short) is a device that obtains carrier navigation information based on the law of mechanics of relative inertial space proposed by Newton. It uses inertial components such as gyroscopes and accelerometers to sense the motion information of the running body, and then performs integral calculations through the computer to obtain navigation parameters such as the at...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16G01S5/02G01S19/23G01S19/47
Inventor 康国华刘建业赵伟赖际舟曾庆化李荣冰孙永荣熊智
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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