Plumb line deviation dynamic measurement device and method based on combination of INS and GPS

Abstract

The invention discloses a plumb line deviation dynamic measurement device and method based on combination of an INS and a GPS. The method comprises the steps that firstly, an INS / GPS attitude measurement subsystem and an LGU / GPS attitude measurement subsystem are built, and an attitude matrix output by the INS / GPS is utilized to initialize the LGU / GPS attitude measurement subsystem at the moment when measurement is started; secondly, the LGU / GPS and the INS / GPS are used for conducting attitude calculating respectively, and the difference between the attitude angle output by the LGU / GPS and the attitude angle output by the INS / GPS is calculated; finally, an optimal estimated value of plumb line deviation is obtained through a Kalman filtering method by the aid of a global gravity model by establishing an observation equation and a state equation for plumb line deviation measurement with the difference between the attitude angle output by the LGU / GPS and the attitude angle output by the INS / GPS as the observed quantity. The plumb line deviation dynamic measurement device and method based on combination of the INS and the GPS can effectively reduce the complexity and cost of a system, improve the measurement accuracy and reliability, and are independent of the measurement environment, high in operability and convenient to implement.

Description

technical field [0001] The invention belongs to the field of surveying and mapping, in particular to a dynamic measurement method for vertical line deviation based on the combination of an inertial navigation system (INS) and a global positioning system (GPS). Background technique [0002] The vector gravity measurement method based on the combination of inertial navigation system / global positioning system is an effective means to obtain gravity field information. It has the characteristics of high precision, high resolution and high measurement efficiency, and is widely used in marine and aviation gravity measurement. The measurement of the vertical component of the gravity vector is relatively mature and widely used in commercial measurement. However, the measurement of the horizontal component of the gravity vector (ie, the vertical deviation) is still a difficult technical problem to solve. [0003] Zhan Dejun of the National University of Defense Technology proposed a "...

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Problems solved by technology

[0004] However, the above-mentioned measurement method has certain limitations, which are mainly manifested in the following three aspects: first, the measurement method requires a star sensor to provide a high-precision astronomical attitude reference, which greatly increases the cost of the measurement equipment and the complexity of the structure; The use of star sensors depends on weather conditions and can only be used at night, thus severely limiting the flexibility of measurement implementation; second, the low-frequency error compensation algorithm for vertical deviation proposed by this invention is only an engineering experience The processing method, its algorithm is not optimal, so the compensation accuracy is not high, and the reliability is also poor

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