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Virtual polar region method based on invariable grid attitude and velocity information

A technology of velocity information and polar regions, which is applied in the field of virtual polar regions based on grid attitude and velocity information. It can solve the problems of poor navigation verification effect and achieve the effect of improving integrity, authenticity and modeling accuracy.

Active Publication Date: 2019-09-03
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] In order to overcome the shortcomings of the poor navigation verification effect of the existing virtual polar region method, the present invention provides a virtual polar region method based on grid attitude and velocity information.

Method used

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  • Virtual polar region method based on invariable grid attitude and velocity information
  • Virtual polar region method based on invariable grid attitude and velocity information
  • Virtual polar region method based on invariable grid attitude and velocity information

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Embodiment Construction

[0043] refer to Figure 1-2 . The present invention is based on the virtual polar region method with constant grid attitude and velocity information. The specific steps are as follows:

[0044] 1. Reference information conversion.

[0045] Define b as the carrier coordinate system, with the coordinate axis pointing to the upper right direction of the carrier; g as the geographic coordinate system, with the coordinate axis pointing to the northeast direction of the local location; define G as the grid coordinate system, with the coordinate axis y G Parallel to the Greenwich meridian; i and e are defined as the traditional inertial coordinate system and the earth coordinate system.

[0046] In the field test in non-polar areas, the results of inertial / satellite integrated navigation are used as reference information, including the attitude matrix in the geographic coordinate system speed v g and position p g . Geographic location includes longitude, latitude and altitude ...

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Abstract

The invention discloses a virtual polar region method based on invariable grid attitude and velocity information, so as to solve the technical problems of poor navigation verification effects of the existing virtual polar region method. In the technical scheme, non-polar region field test data are converted to a polar region for navigation verification in a grid coordinate system, and through reference information conversion, initial state conversion and inertial sensor data conversion, virtual polar region modeling is completed. Through reference information conversion, initial state conversion and inertial sensor data conversion, a virtual pole simultaneously has two characteristics that the earth rotation is parallel with a gravity vector and fast convergence of the meridian is carriedout, and integrity of the model is improved; the non-polar region field test data are converted to the polar region for navigation verification in the grid coordinate system, the influences of the curvature of the earth are considered, and thus, the attitude and velocity information of a carrier relative to the ground can be ensured to be invariable before and after conversion, the model authenticity and the modeling accuracy are improved, and the effect of real test in a polar region can be achieved.

Description

technical field [0001] The invention relates to a virtual polar region method, in particular to a virtual polar region method based on constant grid attitude and velocity information. Background technique [0002] Experimental verification is of great significance to the evaluation of polar region navigation algorithms. Due to the limitations of geographical location, means of transportation, climate, funding and experimental conditions, it is difficult for researchers to reach high latitudes for actual field experiments. However, the pure mathematical simulation method is difficult to truly reflect the dynamic model of the carrier and the influence of the external environment, and cannot obtain a comprehensive verification conclusion. Another effective way is to convert the real test data in the middle and low latitudes to the polar region through mathematical methods to complete the verification of the polar region navigation algorithm. This method is called virtual polar...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 付强文李四海严恭敏刘洋陶渊博刘士明郑江涛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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