6 results about "Bearing (navigation)" patented technology

The present application belongs to the technical field of inertial navigation, and discloses a kind of modulation type inertial measurement unit's inertial device health state real-time monitoring method, suitable for aviation navigation, marine navigation and other application scenarios.The present application cooperates with the relative output information of two sets of inertial navigation system to construct constraint observation, establishes a joint error state adaptive filter as a state monitoring filter, establishes a real-time state monitoring criterion based on the estimated output of the filter, clearly defines the diagnostic threshold and performs health state monitoring, and proposes a bearing gyro drift change quantity fitting method to realize abnormal state monitoring of the bearing gyro.The inertial device health state monitoring method proposed by the present application does not require accurate reference information assistance, providing a reliable guarantee for the safety and reliability of long-time navigation in GNSS denial environment.

The application relates to an inertial navigation comprehensive correction method based on a normal vector position model, which comprises the following steps: receiving a real-time rotation angular velocity vector and a specific force vector, binding initial navigation parameters, obtaining an initial normal vector position vector, an initial quaternion position vector and an initial direction cosine matrix, obtaining an initial velocity and an initial attitude matrix; obtaining a current velocity, a current attitude matrix and a current quaternion position vector; obtaining a current damping velocity and a current damping quaternion position vector, calculating a normal vector integral term; judging whether comprehensive correction is needed, if yes, adjusting an external reference position based on an observation number; if the observation number is greater than 1, adjusting a horizontal position to the external reference position, obtaining a drift angle and an azimuth gyro drift, correcting an attitude matrix output according to the drift angle, and using the azimuth gyro drift for navigation calculation; recording a time of successful observation and setting the normal vector integral term to zero; repeating the foregoing steps until navigation is completed.

The present application relates to the technical field of azimuth measurement, in particular to a method for measuring the azimuth and distance between a ship and other objects, comprising the following steps: obtaining latitude, longitude, time and heading and checking the matching, combining echo and azimuth line to screen superimposed heading, matching distance mark circle and range screening, fusing direction distance correlation screening, checking consistency and removing abnormalities. In the present application, by establishing time correlation and consistency constraints of multi-source navigation elements, latitude, longitude and heading are formed into a unified reference and abnormality is removed, the stability of the measurement reference is improved, deviation identification and screening are carried out in combination with the relationship between echo direction and angle, the consistent performance of direction determination is enhanced, distance verification is carried out using spatial relationship and range information and time matching constraints are introduced, the influence of interference is reduced, a unified relationship is constructed in the fusion stage of azimuth and distance and consistency comparison is carried out, the measurement stability and data fusion reliability in differentiating environment are improved through sequential continuity identification and abnormality filtering.

The invention discloses an underwater follow-up rotating towed body for integrated navigation. Comprising an external follow-up housing, stabilizing wings, a fixed frame, a rolling bearing and a combined navigation assembly, the outer surface of the external follow-up housing is connected with a stabilizing wing; a combined navigation assembly and a fixed frame which are coaxially arranged from inside to outside are arranged in the external follow-up housing, and the upper end and the lower end of the combined navigation assembly are rotationally connected with the fixed frame through rolling bearings respectively; the fixed frame is fixedly connected with the external follow-up housing, and the combined navigation assembly is electrically connected with the outside; when the external follow-up housing is placed underwater, the external follow-up housing freely rotates around the central shaft under the action of hydrodynamic force, and the rotating motion of the external follow-up housing is decoupled by the rolling bearing, so that the external follow-up housing and the fixed frame can rotate relative to the combined navigation assembly, and the combined navigation assembly is kept in a stable state. The structure is ingenious, the problem that the navigation precision of a traditional towed body is greatly disturbed by fluid is effectively solved, and the reliability and stability of underwater long-endurance and high-precision navigation are remarkably improved.

The invention provides a ship dynamic window local path planning method fused with navigation rules, and belongs to the technical field of intelligent path planning. The method mainly comprises the steps of constructing a kinematic model of a ship; speed sampling is carried out, sampling speeds are screened, and an effective speed combination without collision risks is reserved; based on a kinematics model, motion simulation is carried out on the screened effective speed combination, and a plurality of simulation paths are generated; a situation judgment function is constructed, and the encounter situation is judged through the relative orientation and the course difference value; a risk function is constructed, the risk degree between the ship and the obstacle is judged, and the encounter situation is locked; and constructing an evaluation function in a dynamic window method, obtaining scoring results of the simulation paths, comparing the scoring results of all the simulation paths, and selecting a ship driving path of the next time step. The method has high efficiency, stability and accuracy in processing complex dynamic meeting scenes, and can provide reliable path planning support for autonomous navigation safety and intelligent decision making of ships.

The utility model discloses a gyro difference measuring device, which is characterized in that an optical azimuth instrument is placed on a gimbal mechanism, and a rotating shaft of the optical azimuth instrument is connected with a rotating shaft of a rotary encoder, so that when the optical azimuth instrument is rotated to enable a collimation line of the optical azimuth instrument to be aligned with the center of the sun, the rotary encoder can be used for detecting the ship side angle of the sun relative to a ship; and then the computer processing unit can quickly calculate the gyro difference according to the broadside angle obtained from the rotary encoder, the azimuth of the sun gyro obtained from the gyrocompass and the navigation data obtained from the satellite navigation equipment, so that the calculation precision of the gyro difference is effectively improved.