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A Method of Inertial Navigation Velocity Error Determination Based on Recursive Least Squares Parameter Identification

A recursive least squares, velocity error technology, applied in the direction of navigation, instruments, measuring devices, etc. through velocity/acceleration measurement, can solve the problems of the speed and positioning error of the strapdown inertial navigation system, and achieves a small calculation load and good efficiency. Compensation accuracy and the effect of meeting real-time positioning requirements

Active Publication Date: 2021-10-01
BEIJING RES INST OF TELEMETRY +1
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Problems solved by technology

In the speed update process of some existing strapdown inertial navigation systems, due to the influence of their own device performance, the errors introduced by the performance of the accelerometer itself and the attitude coupling are mostly ignored, which introduces a lot of problems to the speed and positioning of the strapdown inertial navigation system. error

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  • A Method of Inertial Navigation Velocity Error Determination Based on Recursive Least Squares Parameter Identification
  • A Method of Inertial Navigation Velocity Error Determination Based on Recursive Least Squares Parameter Identification
  • A Method of Inertial Navigation Velocity Error Determination Based on Recursive Least Squares Parameter Identification

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[0026] The present invention is described in further detail below:

[0027] The strapdown inertial navigation speed error compensation method based on parameter fitting provided by the present invention can be used for inertial navigation system positioning and inertial navigation position calculation in combined systems, and can also improve the speed error in the transfer alignment process of the moving base Quantity correction and accelerometer estimated bias BIAS.

[0028] When carrying out error modeling and correction to the strapdown inertial navigation speed error based on the present invention, the following conditions need to be met to ensure model accuracy: 1. The attitude calculation process of the strapdown system must ensure sufficient accuracy to eliminate the error caused by the attitude error. The velocity error introduced, generally speaking, the error caused by the attitude calculation is within 10 -3 Within ° / h; 2. The strapdown inertial navigation system ...

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Abstract

The present invention is an inertial navigation speed error determination method based on recursive least squares parameter identification, which can improve the speed calculation accuracy of strapdown inertial navigation in a dynamic environment, and improve the subsequent speed update and position update accuracy; In the transfer alignment process of the moving base with matching amount, the acquisition of velocity error can be improved, thereby effectively improving the BIAS error estimation of the accelerometer in the transfer alignment process. In the speed update process, the present invention establishes an appropriate speed error compensation model to realize speed error compensation, and obtains the corresponding speed error compensation factor by analyzing the strapdown inertial navigation speed error model under general conditions, thereby establishing Strapdown inertial navigation speed error model, and then introduce the error model into position update, which can effectively solve the position error caused by speed divergence in the process of strapdown inertial navigation solution, especially for the positioning results of multi-turn maneuvers. .

Description

technical field [0001] The invention relates to an inertial navigation velocity error determination method based on recursive least square parameter identification, belonging to the field of strapdown inertial navigation velocity and position error compensation. Background technique [0002] At present, the inertial navigation system (Inertial NaVigation System, INS) is more and more popular in positioning services due to its autonomy, strong anti-interference ability, good concealment, and high data update rate. (Micro-Electro-Mechanical-System) strapdown inertial navigation system has played an irreplaceable role in personal navigation, aircraft, and vehicle navigation because of its small size, low power consumption, and light weight. A typical strapdown inertial navigation system The system positioning process must include three processes: attitude update, that is, through the processing of gyroscope data, the attitude update process of the system is realized; on this ba...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C25/00
CPCG01C21/18G01C25/005
Inventor 董哲
Owner BEIJING RES INST OF TELEMETRY
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