Integrated navigation method and system

A navigation system and integrated navigation technology, applied in the field of navigation, can solve the problems such as error sources, information utilization, influence filtering accuracy, etc. without considering the constant drift of gyroscope and accelerometer and the change of proportional term

Inactive Publication Date: 2017-05-31
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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Problems solved by technology

However, the system noise covariance matrix and the observation noise covariance matrix in the prior art are set based on experience, so the setting of the variance matrix is ​​not accurate and reasonable, thus affecting the filtering accuracy
[0005] In the prior art, the loose combination of strapdown inertial navigation and satellite navigation is usually used. This method only corrects the variables such as the speed and position of the inertial navigation, and does not consider the constant drift and proportional items of the gyroscope and accelerometer. These are also one of the reasons for the divergence of strapdown inertial navigation errors; in addition, the current strapdown inertial satellite integrated navigation system does not make full use of the information, and only discards it after it is used once at the time of filtering

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[0085] 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 with reference to the accompanying drawings and examples.

[0086] This embodiment provides an integrated navigation method and system.

[0087] figure 1 It is a schematic flowchart of the integrated navigation method in the embodiment of the present invention. Such as figure 1 As shown, the combined navigation method in the embodiment of the present invention mainly includes the following steps:

[0088] Step 11, the first calculation unit fuses the data of the first navigation system and the data of the second navigation system to obtain fused combined navigation data.

[0089] In the technical solution of the present invention, two independent calculation units can actually be set to perform parallel calculations, such as figure 2 shown. Among them, the function of the first calculation unit is to carry...

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Abstract

The invention discloses an integrated navigation method and system. The method comprises the steps of allowing a first calculation unit to perform information fusion on data of a first navigation system and data of a second navigation system to form fused integrated navigation data, B, allowing a second calculation unit to estimate estimated values of constant terms and proportionals of a gyro and an accelerometer as well as a system noise array and an observation noise array for filtration according to recorded history data of the first navigation system and history data of the second navigation system, evaluating the estimated values, determining if the estimated values are more accurate parameters, and feeding the estimated values back to the first calculation unit to correct the corresponding parameters according to a determination result. With the adoption of the integrated navigation method and the system, the navigation accuracy and reliability can be improved.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to an integrated navigation method and system. Background technique [0002] In the current prior art, there are multiple navigation methods such as satellite navigation, inertial navigation, geomagnetic navigation, and terrain matching navigation. Because inertial navigation is a completely autonomous navigation method, and has the advantages of relatively continuous information, less interference, and high accuracy in a short period of time, inertial navigation still occupies an important position in all current navigation methods. Strapdown inertial navigation (SINS) system is a kind of inertial navigation, which has the basic characteristics of inertial navigation. However, strapdown inertial navigation is a recursive calculation, and its error will increase rapidly with time, which cannot meet the requirements of maintaining a certain navigation accuracy for a long time. ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/47
CPCG01C21/165G01S19/47
Inventor 吕建强叶松张义高晓颖
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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