Vehicle-mounted heading and attitude system error compensation method and system based on motion constraints

Abstract

The invention relates to a vehicle-mounted heading and attitude system error compensation method and system based on motion constraints. The method comprises the following steps of establishing a system state equation of error compensation filtering based on an error model of an attitude and heading system,establishing a measurement equation of error compensation filtering based on a vehicle motion constraint condition,according to the system state equation and the measurement equation, determining an optimal estimation result of the attitude error of the mathematical platform of the attitudeand heading system,and performing error online compensation on the vehicle-mounted heading and attitude system according to the optimal estimation result. Thus, long-time high-precision attitude determination can be realized in various complex severe environments, especially in battlefield environments.

Description

technical field [0001] The invention relates to the technical field of vehicle navigation and positioning, in particular to a method and system for error compensation of a vehicle attitude system based on motion constraints. Background technique [0002] For vehicles with special purposes, such as launching vehicles, armored vehicles, command vehicles, surveying and mapping vehicles, and exploration vehicles, it is usually necessary to have high-precision heading and attitude determination capabilities, which must be realized with the help of the vehicle-mounted attitude system, and the vehicle-mounted attitude In various complex and harsh environments, especially in the battlefield environment, the system not only needs to have the characteristics of high precision, but also has the characteristics of good mobility, autonomy and convenience. [0003] At present, the medium and high-precision heading and attitude systems used for vehicle-mounted platforms at home and abroad ...

AI Technical Summary

Problems solved by technology

However, there is a prominent problem in determining the attitude by simply relying on the strapdown inertial group: the system error will continue to accumulate with the prolongation of the working time, and it is impossible to complete long-term high-precision attitude determination.

However, due to certain defects in the satellite navigation system, its signals are easily blocked or interfered, and may even be maliciously shielded in special places or battlefield environments. Independence and reliability are poor, which to some extent limits the wide application of this method in various special application fields, especially in the military field

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