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Method for directly correcting and compensating course angle of navigation system

A technology of navigation system and compensation method, which is applied to measuring devices, instruments, etc., and can solve problems such as the processing method is not simple enough

Active Publication Date: 2014-11-26
SOUTHEAST UNIV
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Problems solved by technology

However, the existing methods cannot meet the high-precision requirements. At the same time, the existing methods need to convert the error model of the magnetometer into an ellipsoid model, estimate the parameters of the ellipsoid model, and then convert it into an error model. This method is not simple enough.

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  • Method for directly correcting and compensating course angle of navigation system
  • Method for directly correcting and compensating course angle of navigation system
  • Method for directly correcting and compensating course angle of navigation system

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings.

[0048] A method for directly correcting and compensating the heading angle of a navigation system, such as figure 1 shown, including the following steps:

[0049] In order to achieve the above object, the technical solution adopted by the present invention is: a method for directly correcting and compensating the heading angle of a navigation system, comprising the following steps:

[0050] Step A, according to the error sources affecting the output vectors of the three axes of the magnetometer in the navigation system and the characteristics of the error sources, a magnetometer output error model is established;

[0051] Step B, using the carrier coordinate system O b x b Y b Z b (choose the center of mass of the carrier as the origin of the carrier coordinate system, O b Y b The axis points to the forward direction of the carrier, O b x b The axis is perpend...

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Abstract

The invention discloses a method for directly correcting and compensating a course angle of a navigation system and belongs to the technical field of location of navigation systems. The method for directly correcting and compensating the course angle of the navigation system comprises the following steps: firstly expanding an error model of a magnetometer according to the basic principle of circulating the course angle by virtue of the magnetometer; secondarily obtaining a parameter estimation model according to distribution characteristics of an earth magnetic field; finally estimating parameters of the expanded error model of the magnetometer by using a two-step total least square method so as to directly correct the course angle of the navigation system at a system level. The method can be used for correcting and compensating the error of a course angle of an inertial integrated navigation and location system which comprises an inertia measurement unit (IMU) and the magnetometer (or an electronic compass). The method is capable of directly correcting the course angle of the navigation system, strong in robustness, strong in reliability, low in cost, high in accuracy, simple in calculation process, and capable of achieving high-accuracy location and navigation and achieving good effects.

Description

technical field [0001] The invention relates to a method for directly correcting and compensating a heading angle of a navigation system, and belongs to the technical field of positioning of a navigation system. Background technique [0002] In the development process of the navigation system, one of the most important functions of the navigation system is to provide the accurate attitude and heading angle information of the carrier. For an inertial measurement unit (IMU) composed of only accelerometers and gyroscopes, the accuracy of the attitude and heading parameters output by the IMU cannot meet the requirements of some navigation systems due to the errors and drift of the accelerometers and gyroscopes themselves. The navigation system composed of inertial measurement unit (IMU) and magnetometer can improve the accuracy of attitude angle and heading angle. Magnetometers are widely used abroad, but there are still some problems in magnetic field compensation. It is diffi...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 陈熙源吕才平黄浩乾方琳臧云歌
Owner SOUTHEAST UNIV
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