Gravity compensation method, system and device

Abstract

The invention provides a gravity compensation method, system and device. A navigation computer determines position information of a carrier according to an initial gravity vector, a specific force andposture information of the carrier, and sends the position information to a gravity computer, the gravity computer calculates a gravity vector of the position of the carrier according to the positioninformation of the carrier and sends the gravity vector to the navigation computer, and the navigation computer updates a real-time gravity vector of the carrier according to the gravity vector of the location of the carrier. In this way, the transmission of the position information and the update of the gravity vector of the carrier are achieved by the communication between the navigation computer and the gravity computer, and the calculation of the gravity vector of the carrier by the gravity computer does not interrupt the solution of the navigation information of the carrier by the navigation computer, the real-time output of the navigation information is guaranteed, the calculation process is simple, the complexity is low, the calculation time of the gravity vector is greatly shortened, and it is ensured that the update of the gravity vector of the carrier meets the real-time requirements of gravity compensation of a navigation system.

Description

technical field [0001] The present application relates to the technical field of inertial navigation, in particular to a gravity compensation method, system and device. Background technique [0002] Inertial navigation system, referred to as inertial navigation system, mainly relies on gyroscopes and accelerometers for dead reckoning. It can independently, autonomously and continuously determine the position of the carrier. It is currently widely used in civil, military and scientific research fields. Among them, the accelerometer does not distinguish between the acceleration of gravity and the acceleration of the movement of the carrier. Therefore, in order to obtain the acceleration of the movement of the carrier for dead reckoning, all inertial navigation systems need the actual gravity vector of the carrier in the local area. [0003] The difference between the actual gravity vector and the normal gravity vector is called the gravitational disturbance vector. The influe...

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to provide a gravity compensation method, system and device for the above-mentioned technical problems that the calculation process is complex, the calculation time is long, and it is difficult to meet the real-time requirements of the navigation system.

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