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Integrated navigation method based on short-distance landmark ranging

An integrated navigation and short-distance technology, which is applied in surveying and mapping, navigation, navigation, and navigation through speed/acceleration measurement, etc., can solve the deception interference of the satellite navigation system, and cannot meet the measurement requirements of high reliability and high precision of navigation parameters. Eliminate problems such as cumulative errors

Active Publication Date: 2015-08-26
AEROSPACE SCI & IND MICROELECTRONICS SYST INST CO LTD
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Problems solved by technology

[0003] At present, the widely used integrated navigation methods are inertial / satellite combination and inertial / odometer combination. Since the satellite navigation system is susceptible to spoofing interference, it cannot meet the system's high reliability and high precision measurement requirements for navigation parameters.
However, the odometer auxiliary means is affected by factors such as skidding and changes in tire pressure.
In addition, the odometer is still a relative position measurement tool, with accumulated errors that cannot be eliminated

Method used

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  • Integrated navigation method based on short-distance landmark ranging
  • Integrated navigation method based on short-distance landmark ranging
  • Integrated navigation method based on short-distance landmark ranging

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Embodiment Construction

[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0022] Such as figure 1 As shown, the present invention provides a method for integrated navigation based on short-distance landmark ranging, and the method includes the following steps:

[0023] S1. Install the strapdown inertial navigation system and two ranging devices on a carrier, which is usually a vehicle. The strapdown inertial navigation system is located in the middle of the vehicle,...

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Abstract

The invention discloses an integrated navigation method based on short-distance landmark ranging. The method comprises the following steps: S1, mounting a strapdown inertial navigation system and two ranging devices on a carrier, and collecting carrier motion information output under the normal operation condition of an inertial measurement unit of the strapdown inertial navigation system so as to perform inertial navigation calculation; S2, driving the carrier to a preset landmark area, and collecting the distances from the two ranging devices to a landmark point and the positional information of the landmark point; S3, establishing a state equation; S4, establishing a measurement equation, and taking the difference of two squares of the measuring distance between the two ranging devices as measurement information; S5, performing Kalman filtering by utilizing the state equation and the measurement equation so as to correct inertial navigation system parameter errors and device parameter errors in real time and realize integrated navigation. Signal interference can be effectively avoided by implementing the method disclosed by the invention, the method has higher stealthiness and autonomy, and the problem of error accumulation is solved.

Description

technical field [0001] The invention belongs to the technical field of combined navigation design, and in particular relates to a combined navigation method based on distance measurement of short-distance landmarks. Background technique [0002] The integrated navigation system can effectively use various sensor information, improve navigation accuracy, reduce the requirements for inertial sensors, and effectively reduce costs. Moreover, the integrated navigation system has better fault tolerance and reliability, so it is widely used. [0003] At present, the widely used integrated navigation methods are inertial / satellite combination and inertial / odometer combination. Since the satellite navigation system is susceptible to spoofing interference, it cannot meet the system's high reliability and high precision measurement requirements for navigation parameters. However, the odometer auxiliary means has the problem of being affected by factors such as skidding and changes in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 刘明胡华峰周海李旦罗伟杨元侠
Owner AEROSPACE SCI & IND MICROELECTRONICS SYST INST CO LTD
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