Vertical deviation measuring method based on static correction

Abstract

The invention discloses a vertical deviation measuring method based on static correction. The vertical deviation measuring method comprises the steps that an attitude, position and velocity equation,and a measuring equation of a combined system vertical deviation observation model are established; a static correction vertical deviation observation model is established; whether a carrier is in uniform motion or not is determined, and if the carrier is in uniform motion, then a position difference and a measured value of course angle correction are used as the measuring equation to correct a vertical deviation equation; otherwise, a velocity, the position difference, and the measured value of course angle correction are used as observations to correct the vertical deviation equation; and inertia system output state variables are statically corrected based on the corrected static correction vertical deviation observation model. According to the vertical deviation measuring method based on static correction, velocity information and position information are used as the observations, in the meantime, zero angle correction observations are added to limit a course angle error, constant zero offset of an angular velocity sensor is updated to reduce the course angle drift, and the problems that southern attitude error compensation during the combined system vertical deviation measuringis not satisfied and the course angle error increases with time are solved.

Description

technical field [0001] The invention relates to a vertical line deviation measurement technology of an inertial navigation and global positioning combined system, in particular to a vertical line deviation measurement method based on static correction. Background technique [0002] Combining global positioning system and inertial system and applying information fusion theory to form an optimal combined measurement system has become the development direction of new measurement technology. They have good complementary characteristics, and can obtain three-dimensional position, velocity, and attitude information with stability, high precision, and high data update rate. In the vertical line deviation combined measurement system, the global positioning system is usually used to output the position and velocity measurement values ​​and the algorithm of recursive filtering is used to limit the accumulation of inertial system errors. However, the position and velocity measurement v...

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Problems solved by technology

[0004] Purpose of the invention: To provide a method for measuring vertical line deviation based on static correction. This method not only uses speed and position information as observations, but also adds zero angle correction observations to limit the heading angle error by updating the constant zero offset of the angular velocity sensor. Reduce the heading angle drift, aiming to solve the problem that the compensation of the attitude error in the vertical line deviation is not in place and the heading angle error accumulates over time

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