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Multi-source inertial navigation information reasonability determination method

A technology of inertial navigation and discrimination method, which is applied in the field of integrated navigation and inertial-satellite integrated navigation, and can solve problems such as navigation errors and wrong inertial navigation information

Active Publication Date: 2016-08-10
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST +1
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AI Technical Summary

Problems solved by technology

When the navigation information of a certain calculation unit is wrong, it needs to be screened to avoid using wrong inertial navigation information and causing navigation errors

Method used

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  • Multi-source inertial navigation information reasonability determination method
  • Multi-source inertial navigation information reasonability determination method
  • Multi-source inertial navigation information reasonability determination method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0083] An integrated navigation system is equipped with three inertial calculation units 1-3 (Process Unit, PU1, PU2, PU3 for short), and the integrated navigation software runs on the integrated navigation unit.

[0084] Time period T1 = 10ms (milliseconds), time period T2 = 100ms, a certain T1 period start time t 1 =0.02s, end time t 2 =0.03s,t gap =0.006s, it can be calculated that the starting time of integrated navigation is 0.024s.

[0085] t 1 The inertial navigation information of the three inertial calculation units recorded by the time-integrated navigation is as follows:

[0086] PU1:

[0087] Communication is normal;

[0088] Inertial information self-contained status flag = 1 (1 means normal);

[0089] (x a ,y a ,z a )=(10.0,20.0,30.0)

[0090] (V x_a ,V y_a ,V z_a )=(1.0,2.0,3.0)

[0091] q a → = ( q 0 ...

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Abstract

The invention relates to a multi-source inertial navigation information reasonability determination method and belongs to the technical field of integrated navigation, and particularly relates to an inertial-satellite integrated navigation technology. According to the method, on the basis that a plurality sets of inertial navigation information calculation units are arranged, reasonability of the inertial navigation information is determined to make information strategy. Through validity determination of single-shot data, the inertial navigation information sent by an inertial calculation unit in failure is rejected, thereby improving accuracy of the inertial navigation information. The method can adapt partial absence in the inertial navigation information due to communication failure and employs the inertial navigation information in normal communication for integrated navigation calculation, thereby improving reliability of the inertial navigation information.

Description

technical field [0001] The invention relates to a method for judging the rationality of multi-source inertial navigation information, which belongs to the technical field of integrated navigation, and specifically relates to a method applied in the technical field of inertial-satellite integrated navigation. , to judge the rationality of the inertial navigation information and make decisions on the information. Background technique [0002] Inertial navigation information refers to the navigation information obtained by using the apparent acceleration and angular velocity information sensitive to the inertial measurement device to perform navigation calculations in the inertial calculation unit, including: inertial information calculation status flag, inertial navigation time, inertial system position, speed , the quaternion used for the calculation of the transformation matrix of the carrier system to the inertial system coordinates, etc. Inertial navigation information is...

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 尚腾徐帆曹洁巩庆海李学锋王辉张宇
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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