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
View PDF6 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • 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 d

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C21/20
Inventor 魏宗康刘生炳赵龙
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap