A Modified Inertial Navigation Method for Communication Antenna in Motion and Its Composed Hybrid Navigation Method

Abstract

The invention discloses an inertia navigation correction method for a communication-in-moving antenna and a hybrid navigation method composed of the communication-in-moving antenna. The core design ofthe invention lies in that the invention provides three improvement points to correct a navigation error. First one: in order to shorten the initial reaction time of the communication-in-moving antenna, the invention adopts a novel inertia navigation quick alignment method, of which the alignment accuracy can meet the requirement of the communication-in-moving antenna within 3 seconds, so that the initial reaction speed of a system is increased. Second one: combination navigation parameters are adjusted by adopting an adaptive adjustment mode, so that the inertia navigation error correction precision is further improved. Third one: a novel zero-velocity correction algorithm is adopted to effectively avoid the shortcoming that the inertia navigation precision is reduced or diverged when the communication-in-moving antenna is covered. Through the three technical measures, the problem of reduction of the inertia navigation precision during the use of the communication-in-moving antenna can be comprehensively solved, so that a stable and high-precision navigation measure is provided.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to a method for correcting inertial navigation of an antenna in motion and a hybrid navigation method composed of the same. Background technique [0002] At present, low-cost antennas in motion generally use MEMS inertial navigation. MEMS inertial navigation has poor gyro bias stability and repeatability, and cannot provide heading information. Generally, it is necessary to use GPS (or BD), reverse heading information and MEMS Inertial navigation performs integrated navigation and estimates gyro error to improve attitude and gyro measurement accuracy. [0003] At present, the commonly used antenna-in-motion integrated navigation algorithm has the following deficiencies: (1) The initial alignment algorithm of inertial navigation takes a long time, generally longer than 60s, which affects the initial response time of the antenna in motion; (2) the use of satellite beacon...

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Problems solved by technology

[0002] At present, low-cost antennas in motion generally use MEMS inertial navigation. MEMS inertial navigation has poor gyro bias stability and repeatability, and cannot provide heading information. Generally, it is necessary to use GPS (or BD), reverse heading information and MEMS Inertial navigation for integrated navigation, estimating gyro error, in order to improve attitude and gyro measurement accuracy

[0003] At present, the commonly used antenna-in-motion integrated navigation algorithm has the following deficiencies: (1) The initial alignment algorithm of inertial navigation takes a long time, generally longer than 60s, which affects the initial response time of the antenna in motion; (2) the use of satellite beacon signals The heading accuracy of the inverse solution fluctuates greatly, and the integrated navigation algorithm mistakenly takes the heading fluctuation as the gyro zero position deviation, corrects the gyro error by mistake, and affects the stability accuracy of the antenna in motion; (3) When the signal of the antenna in motion is blocked, at this time Unable to receive GPS (or BD) and beacon signals, position integrated navigation and heading integrated navigation algorithms are invalid, if gyro error correction is not performed for a long time, the attitude error of inertial navigation will increase, and after the vehicle drives out of the occluded area, the mobile communication Antennas have difficulty reacquiring satellites quickly

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