External measured speed information-based horizontal attitude error correction method for SINS (serial inertial navigation system)
A horizontal attitude and error correction technology, which is applied to navigation, measurement devices, surveying and navigation through speed/acceleration measurement, and can solve problems such as heavy debugging workload, inability to correct attitude, and convergence effects
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[0038] Because the inertial navigation system itself has instrument errors, initial alignment errors, gravity anomalies, etc., the navigation error diverges with time when the inertial navigation system works for a long time. Therefore, it is necessary to introduce external position information, external velocity information or external attitude information to correct the inertial navigation error.
[0039] Such as figure 1 As shown, the present invention provides a kind of SINS horizontal attitude error correction method based on external measurement velocity information, and the steps are as follows:
[0040] (1) The speed measured by the inertial navigation system Make a difference with the carrier's true northward velocity V obtained by GPS to obtain a velocity error signal
[0041] (2) Perform azimuth decoupling on the speed error signal obtained in step (1), and the decoupling matrix is A;
[0042] A = ...
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