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Method for measuring noise estimation and data fusion for allowance inertia measuring unit

An inertial measurement unit and inertial measurement technology, applied in the field of inertial navigation, can solve problems such as poor adaptability to different noise distributions, low data fusion accuracy, and inability to achieve estimation.

Inactive Publication Date: 2012-09-19
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

Since the conventional least squares method is an equal-weighted data-weighted fusion method, the conventional least squares data fusion method cannot achieve accurate estimation when processing measurement data obtained from sensors with different measurement accuracy
The conventional least squares data fusion method is difficult to effectively use the measurement data to obtain accurate results, resulting in low data fusion accuracy and poor adaptability to different noise distributions.

Method used

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  • Method for measuring noise estimation and data fusion for allowance inertia measuring unit
  • Method for measuring noise estimation and data fusion for allowance inertia measuring unit
  • Method for measuring noise estimation and data fusion for allowance inertia measuring unit

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Embodiment

[0081] The initial position of the carrier in this embodiment is 116.7° east longitude, 39° north latitude, 800m in altitude, 257m / s in speed, 35.2° in course angle, and 200s in flight time. The random drift of the gyro is 0.01° / h, the random drift of the accelerometer is 1 μg, the data measurement period is 0.01s, and the inertial navigation solution period is 0.01s. Applying a method for estimating error in measurement error and data fusion method based on least squares for redundant sensors provided by the present invention, such as figure 1 The flow chart shown is realized through the following steps:

[0082] Step 1: Obtain the spatial synthesis vector of the carrier axis;

[0083] The inertial measurement unit in the redundancy sensor measures the angular rate or acceleration component information along the measurement axis of the redundancy sensor relative to the inertial space, which is called inertial measurement data. Utilizing the inertial measurement data, throug...

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Abstract

The invention provides a method for measuring noise estimation and data fusion for an allowance inertia measuring unit, and belongs to the field of inertia navigation. The method specifically comprises steps of obtaining space resultant vector of a carrier shaft; projecting the space resultant vector to different measuring shafts of an allowance sensor to obtain space projection data; obtaining projection residual errors between the space projection data and inertia measured data; weighting the inertia measured data in different axial directions of the allowance sensor; using a weighted least square method to synthesize space resultant vector of a carrier and the like. By means of analyzing an allowance system, measurement errors of the allowance system are estimated, estimation results of measurement noise are utilized sufficiently to reasonably weight the measured data, resultant vector calculating precision is improved effectively, and the precision of an allowance inertia navigation system is improved. Besides, the method is simple in process and easy to operate.

Description

technical field [0001] The invention relates to the field of inertial navigation, in particular to a weighted least squares-based redundancy inertial measurement unit measurement noise estimation method and a data fusion method. Background technique [0002] The redundant inertial measurement unit is a technology that uses multiple sensor devices and configures them in a redundant manner in order to increase the reliability and accuracy of the system. Compared with ordinary inertial measurement units, redundant inertial measurement units use more sensors to reduce measurement noise and ensure that the system can still work normally when some of the sensors fail. The measurement data of the redundant inertial measurement unit can only be used after data fusion. The purpose is to fuse the inertial measurement information of multiple measurement axes into the information of three orthogonal axes. In general, the sensors of the measuring unit have different precisions, which le...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 张海邢川李玉洁王嫣然
Owner BEIHANG UNIV
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