Point position correction method and device of single-axis rotation modulation inertial navigation system and medium

Abstract

The invention relates to the technical field of inertial navigation, in particular to a point position correction method and device of a single-axis rotation modulation inertial navigation system and a medium. According to the method, the inertial navigation system is corrected by introducing external position information, so that the positioning error of the inertial navigation system can be obviously reduced. According to the method, the internal calculation error of the inertial navigation system can be corrected in real time or regularly, so that the calculated position is closer to the real position, and the navigation accuracy is improved. The method disclosed by the invention has obvious effects in the aspects of improving the navigation precision, enhancing the system stability, optimizing the attitude solution, improving the system adaptability, simplifying the operation process and the like.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation, and in particular to a point position correction method, equipment and medium for a single-axis rotation modulation inertial navigation system. Background Art

[0002] The accuracy of the inertial navigation system is affected by the drift of the inertial device itself. In order to improve the navigation accuracy of the system under long-duration conditions, people have proposed using a rotation modulation method to modulate the inertial device error so that the integral value of the error in one cycle is approximately zero, thereby improving the navigation accuracy of the inertial navigation system. The single-axis rotation modulation system cannot modulate the celestial gyro zero bias. Therefore, the positioning error of the single-axis rotation modulation system will gradually diverge, and the heading error will also gradually increase. Estimation and compensation of heading error and positioning error is an important method to improve the accuracy of the single-axis rotation modulation inertial navigation system. Considering the actual use of the single-axis rotation modulation inertial navigation system, it can usually only provide short-term external position information occasionally. How to use point position information to correct the single-axis rotation modulation inertial navigation system is of great significance. Summary of the invention

[0003] In view of this, the present invention provides a point position correction method, device and medium for a single-axis rotation modulation inertial navigation system, which can correct the single-axis rotation modulation inertial navigation system using point position information.

[0004] To achieve the above object, the present invention provides a point position correction method for a single-axis rotation modulation inertial navigation system, comprising the following steps:

[0005] S1: The single-axis rotation modulation inertial navigation system is turned on and performs initial alignment until the alignment is completed;

[0006] S2: The inertial navigation system enters the damping navigation state;

[0007] S3: If external position information is received, determine whether it is the first time to receive it. If so, record this time as time t1. The received position information is (LatGnss1, LonGnss1), the position solved by the inertial navigation system is (LatIns1, LonIns1), and the positioning error of the inertial navigation system is (dLat1, dLon1), where: dLat1 = -LatGnss1 + LatIns1, dLon1 = -LonGnss1 + LonIns1 ; If it is not the first time received, then record this time as time t2, the received position information is (LatGnss2, LonGnss2), the position solved by the inertial navigation system is (LatIns2, LonIns2), the attitude quaternion solved by the inertial navigation system is q2, and the positioning error of the inertial navigation system is (dLat2, dLon2), where: dLat2 = -LatGnss2 + LatIns2, dLon2 = -LonGnss2 + LonIns2;

[0008] If no external location information is received, return to S2;

[0009] S4: Replace the position calculated by the inertial navigation system with the external position information received at time t2, and calculate the heading misalignment angle of the inertial navigation system

[0010] S5: Use the obtained heading misalignment angle Correct inertial navigation attitude;

[0011] S6: Replace the external position information received at time t1 and the position calculated by the inertial navigation system with the external position information received at time t2 and the position calculated by the inertial navigation system, and return to S2 to repeat the above process.

[0012] Wherein, the heading misalignment angle of the inertial navigation system is in θ=Ω*(t2-t1), Ω is the angular velocity of the earth's rotation; L=LatGnss2.

[0013] Wherein, in step S5, the inertial navigation attitude in: The present invention also provides an electronic device, comprising a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the point position correction method of the single-axis rotation modulation inertial navigation system described in the present invention.

[0014] The present invention also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute any point position correction method of the single-axis rotation modulation inertial navigation system described in the present invention.

[0015] Beneficial effects:

[0016] 1. The method of the present invention can significantly reduce the positioning error of the inertial navigation system by introducing external position information to correct the inertial navigation system. This method can correct the internal calculation error of the inertial navigation system in real time or regularly, so that the calculated position is closer to the real position, thereby improving the accuracy of navigation. The present invention has shown significant effects in improving navigation accuracy, enhancing system stability, optimizing attitude solution, improving system adaptability and simplifying operation procedures.

[0017] 2. In the damped navigation state, the inertial navigation system may drift due to various interference factors (such as noise, environmental changes, etc.). The method of the present invention can calibrate the system regularly through the point position correction method, effectively suppress this drift, and enhance the stability and reliability of the system.

[0018] 3. In the method of the present invention, the heading misalignment angle calculated using external position information is used to correct the attitude of the inertial navigation system, which can optimize the accuracy of attitude solution and help improve the overall performance of the system, especially in situations where high-precision attitude information is required.

[0019] 4. The method of the present invention can adapt to the needs of different environments and application scenarios. Whether on land, sea or air, as long as reliable external position information can be obtained, the inertial navigation system can be calibrated so that it can maintain high navigation accuracy in various complex environments; through the automated and intelligent calibration process, the method can greatly simplify the operation process of the inertial navigation system. Users only need to perform simple recording and calculation when receiving external position information to complete the calibration of the system without complicated adjustments and settings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the process of the present invention.

[0021] Figure 2 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0023] The present invention provides a point position correction method for a single-axis rotation modulation inertial navigation system, the process is as follows: Figure 1 As shown, the following steps are included:

[0024] S1: The single-axis rotation modulation inertial navigation system is turned on and performs initial alignment until the alignment is completed;

[0025] S2: The inertial navigation system enters the damping navigation state;

[0026] S3: If external position information is received, determine whether it is the first time to receive it. If so, record this time as time t1. The received position information is (LatGnss1, LonGnss1), the position solved by the inertial navigation system is (LatIns1, LonIns1), and the positioning error of the inertial navigation system is (dLat1, dLon1), where: dLat1 = -LatGnss1 + LatIns1, dLon1 = -LonGnss1 + LonIns1 ; If it is not the first time received, then record this time as time t2, the received position information is (LatGnss2, LonGnss2), the position solved by the inertial navigation system is (LatIns2, LonIns2), the attitude quaternion solved by the inertial navigation system is q2, and the positioning error of the inertial navigation system is (dLat2, dLon2), where: dLat2 = -LatGnss2 + LatIns2, dLon2 = -LonGnss2 + LonIns2;

[0027] If no external location information is received, return to S2;

[0028] S4: Replace the position calculated by the inertial navigation system with the external position information received at time t2, and calculate the heading misalignment angle of the inertial navigation system in θ=Ω*(t2-t1), Ω is the angular velocity of the earth's rotation; L=LatGnss2;

[0029] S5: Use the obtained heading misalignment angle Correct the inertial navigation attitude, in:

[0030] S6: Replace the external position information received at time t1 and the position calculated by the inertial navigation system with the external position information received at time t2 and the position calculated by the inertial navigation system, and return to S2 to repeat the above process.

[0031] In summary, the correction method of the present invention is of great significance for the practical application of the single-axis rotation modulation system.

[0032] The embodiment of the present application also provides an electronic device, Figure 2The structure of the electronic device provided by the embodiment of the present invention is shown. For example, the electronic device 20 may include a processor 21, a memory 22 and a transmission device 23. The processor is used to execute the point position correction method of the single-axis rotation modulation inertial navigation system mentioned in the above embodiment, wherein the processor and the memory may be connected by a bus or other means, taking the bus connection as an example. The transmission device may be connected to the processor and the memory by wire or wirelessly. The memory, as a non-transient computer-readable storage medium, may be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the point position correction method of the single-axis rotation modulation inertial navigation system in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, the point position correction method of the single-axis rotation modulation inertial navigation system in the above method embodiment is realized. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The one or more modules are stored in the memory, and when executed by the processor, the point position correction method of the single-axis rotation modulation inertial navigation system in the embodiment is executed.

[0033] As another aspect, the present application also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the device described in the above embodiment; or it may be a computer-readable storage medium that exists independently and is not assembled into the device. The computer-readable storage medium may be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD ROM, or any other form of storage medium known in the technical field. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the point position correction method of the single-axis rotation modulation inertial navigation system described in the present application.

[0034] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A point position correction method for a single-axis rotation modulation inertial navigation system, characterized in that: The following steps are involved: S1: The single-axis rotation modulation inertial navigation system is turned on and performs initial alignment until the alignment is completed; S2: The inertial navigation system enters the damping navigation state; S3: If external position information is received, determine whether it is the first time to receive it. If so, record this time as time t1. The received position information is (LatGnss1, LonGnss1), the position solved by the inertial navigation system is (LatIns1, LonIns1), and the positioning error of the inertial navigation system is (dLat1, dLon1), where: dLat1 = -LatGnss1 + LatIns1, dLon1 = -LonGnss1 + LonIns1 ; If it is not the first time received, then record this time as time t2, the received position information is (LatGnss2, LonGnss2), the position solved by the inertial navigation system is (LatIns2, LonIns2), the attitude quaternion solved by the inertial navigation system is q2, and the positioning error of the inertial navigation system is (dLat2, dLon2), where: dLat2 = -LatGnss2 + LatIns2, dLon2 = -LonGnss2 + LonIns2; If no external location information is received, return to S2; S4: Replace the position calculated by the inertial navigation system with the external position information received at time t2, and calculate the heading misalignment angle of the inertial navigation system S5: Use the obtained heading misalignment angle Correct inertial navigation attitude; S6: Replace the external position information received at time t1 and the position calculated by the inertial navigation system with the external position information received at time t2 and the position calculated by the inertial navigation system, and return to S2 to repeat the above process.

2. The method according to claim 1, characterized in that The heading misalignment angle of the inertial navigation system in θ=Ω*(t2-t1), Ω is the angular velocity of the earth's rotation; L=LatGnss2.

3. The method according to claim 1 or 2, characterized in that In step S5, the inertial navigation attitude in:

4. An electronic device, characterized in that: The electronic device includes a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the point position correction method of the single-axis rotation modulation inertial navigation system described in any one of claims 1-3 above.

5. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the point position correction method of the single-axis rotation modulation inertial navigation system described in any one of claims 1 to 3.

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