Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

SINS (Ship's Inertial Navigation System)/GPS (Global Position System) high-precision gravity disturbance method based on system states estimation

A technology of gravity disturbance and system state, which is applied in the field of navigation and can solve problems such as limited accuracy of gravity disturbance measurement values

Inactive Publication Date: 2019-01-11
GUIZHOU INST OF TECH
View PDF0 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The direct difference method is a commonly used method at present, and the gravitational disturbance information can be obtained by taking the difference between the specific force measured by SINS and the motion acceleration measured by GPS, but the direct difference method is not an optimal estimation algorithm. Obtained gravitational perturbation measurements with limited accuracy

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • SINS (Ship's Inertial Navigation System)/GPS (Global Position System) high-precision gravity disturbance method based on system states estimation
  • SINS (Ship's Inertial Navigation System)/GPS (Global Position System) high-precision gravity disturbance method based on system states estimation
  • SINS (Ship's Inertial Navigation System)/GPS (Global Position System) high-precision gravity disturbance method based on system states estimation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0015] Embodiment 1. A kind of SINS / GPS high precision gravitational disturbance compensation method based on system state estimation, this method it comprises the following steps:

[0016] Step A: Under the navigation coordinate system, the specific force information of the SINS measurement output and the motion acceleration information of the GPS measurement output are calculated for difference, and the common motion acceleration information is eliminated to obtain the gravitational disturbance information containing random error noise;

[0017] Step B: using the gravitational disturbance information obtained in step A as prior information, using the autoregressive statistical analysis method to infer the data distribution of the gravitational disturbance, and establishing an autoregressive statistical model of the gravitational disturbance field;

[0018] Step C: introducing the gravitational disturbance statistical model obtained in step B into the SINS error equation for f...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an SINS (Ship's Inertial Navigation System) / GPS (Global Position System) high-precision gravity disturbance method based on system states estimation. The method comprises the following steps: performing differencing calculation on specific force information measured by the SINS and motion acceleration information measured by the GPS so as to acquire gravity disturbance information with a random error; establishing an autoregressive statistical model of the gravity disturbance field; taking the gravity disturbance as a novel quantity of state to perform combined system filter state augmentation, and establishing an SINS systematic error equation according to a statistical model of the gravity disturbance field so as to obtain an error model system equation for filtering estimation; and selecting the position, speed and acceleration information of the GPS as external quantities to measure, establishing a Kalman filter to perform optimal estimation on the SINS / GPSsystem state (comprising gravity disturbance) so as to acquire an accurate gravity disturbance value, and performing high-precision gravity disturbance compensation in each iteration cycle of an inertial navigation equation. The method disclosed by the invention is capable of efficiently and accurately performing SINS / GPS gravity disturbance compensation.

Description

technical field [0001] The invention relates to a SINS / GPS high-precision gravitational disturbance compensation method based on system state estimation, belonging to the technical field of navigation. Background technique [0002] The main components of the SINS / GPS integrated navigation system are the Strapdown Inertial Navigation System (SINS) and the Global Positioning System (Global Position System, GPS). The SINS / GPS integrated navigation system combines the advantages of high short-term accuracy of SINS data and high frequency of output data with the advantages of good long-term stability of GPS data and no drift over time, and performs fusion calculation of SINS / GPS data to output high-precision position , velocity and attitude information. [0003] Under normal circumstances, the gravitational acceleration vector used in SINS / GPS navigation calculations is calculated by the normal gravity model, but the normal gravity obtained by using the normal gravity model is o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/16G01S19/49
CPCG01C21/165G01S19/49
Inventor 陈霖周廷崔祚高麒麟杨登红薛九天贾赟
Owner GUIZHOU INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com