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Method for correcting measurement errors of inertial navigation system based on global positioning system (GPS) information

An inertial navigation system and measurement error technology, which is applied to navigation calculation tools and other directions, and can solve problems such as difficulty in completing integrated navigation calculations, large debugging workload, and convergence effects.

Active Publication Date: 2013-12-25
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When using the Kalman filter algorithm to design an integrated navigation system, it is necessary to establish a system error model. In addition, the Kalman filter algorithm is a recursive algorithm. When starting the algorithm, it is necessary to set the initial value of the parameters, the correctness of the error model and The rationality of the initial value of the parameter will have a direct impact on the convergence of the algorithm. In engineering application, it is necessary to set a reasonable initial value of the parameter for different products, and the debugging workload is very heavy.
In addition, as the frequency of external survey information increases, it will be difficult to complete the integrated navigation calculation in one cycle after using the Kalman filter.

Method used

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  • Method for correcting measurement errors of inertial navigation system based on global positioning system (GPS) information
  • Method for correcting measurement errors of inertial navigation system based on global positioning system (GPS) information
  • Method for correcting measurement errors of inertial navigation system based on global positioning system (GPS) information

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example 1

[0066] Example 1. When v=0, set T 1 =T 2 , then there are First, determine the shear frequency ω of the system c , then the open-loop transfer function of the damping system is Among them, ω c =K. figure 2 The solid line gives ω c The open-loop Bode diagram of the damping system when =100rad / s, set the sampling frequency to 100Hz, the open-loop Bode diagram of the system after using bilinear discretization is as follows figure 2 Dotted line.

example 2

[0067] Example 2. When v=0, set T 1 ≥ T 2 > 1 ω c , then there are C i ( s ) = K T 2 s + 1 T 1 s + 1 , i = 1,2,3,4 . First, determine the shear frequency ω of the system c ,Pick Then the open-loop transfer function of the damping system is image 3 The solid line gives ω c =100rad / s, T 1 =1, T 2 The open-loop Bode plot of the damping system at = 0.1. It can be seen from the figure that the gain of the system in the low fr...

example 3

[0068] Example 3. When v=1, set T 2 > 1 ω c > T 1 , then there are C i ( s ) = K T 2 s + 1 s ( T 1 s + 1 ) , i = 1,2,3,4 . First, determine the shear frequency ω of the system c , take K=T 2 ω c 2 , then the open-loop transfer function of the damping system is Figure 4 The solid line gives ω c =100rad / s, T 1 =0.001, T 2 = 0.1 Open loop Bod...

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Abstract

The invention discloses a method for correcting measurement errors of an inertial navigation system based on global positioning system (GPS) information. A series control method is adopted; the external GPS position information and speed information are introduced to correct an inertial navigation error; by virtue of an appropriate controller, input signal noise can be filtered, system input can be tracked by system output, and speed and position errors of the inertial navigation system can be corrected. The method does not depend on the accuracy of a system error model and is high in operation speed and low in time cost; when the external measurement data frequency is high, the speed and position measurement errors of the inertial navigation system can be corrected; the system error model can be re-built by correcting the parameters of the controller; the workload is small.

Description

technical field [0001] The invention relates to an inertial navigation system measurement error correction method, in particular to an inertial navigation system measurement error correction method based on GPS information, which can be used in occasions with high-precision navigation accuracy, such as aerospace, surveying and mapping and other fields. Background technique [0002] The inertial navigation system is a range reckoning system based on the quadratic integration of acceleration. It completely relies on mechanical equipment and corresponding algorithms to automatically and independently complete the navigation task without any optical or electrical contact with the outside world. Therefore, the concealment is good, and the working environment is not limited by meteorological conditions. This unique advantage makes it a widely used main navigation system in the fields of aerospace, aviation and navigation. However, due to the presence of instrument errors, initial...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 魏宗康刘生炳赵龙
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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