Method for correcting feedback of inertial navigation system/global position system (INS/GPS) combined navigation system based on lever arm estimation

A technology of integrated navigation system and feedback correction, applied in measurement devices, instruments, etc., can solve problems such as incomplete feedback correction, and achieve the effect of improving accuracy

Inactive Publication Date: 2013-10-09
BEIHANG UNIV
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Benefits of technology

The present in this patented technology allows for accurate estimation of errors caused by changes made on the positioning or navigational devices due to factors like temperature fluctuations during flight. This helps improve the performance of these systems while reducing their impacts upon them' ability to function properly over longer periods of operation.

Problems solved by technology

The technical problem addressed in this patented text relates to improving the performance of navigational integration systems such as autonomous vehicle guidance or indoor localization systems like LANDMAK® Navigation System. These improvements aim to improve their overall functionality while minimizing errors introduced into them through various sources including external factors such as sensor noise and communication delays.

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  • Method for correcting feedback of inertial navigation system/global position system (INS/GPS) combined navigation system based on lever arm estimation
  • Method for correcting feedback of inertial navigation system/global position system (INS/GPS) combined navigation system based on lever arm estimation
  • Method for correcting feedback of inertial navigation system/global position system (INS/GPS) combined navigation system based on lever arm estimation

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Embodiment Construction

[0017] A feedback correction method for INS / GPS integrated navigation system based on lever-arm estimation is mainly divided into two stages: the first stage is an incomplete feedback correction system based on the 18-dimensional system error state model including the lever-arm error; The stage is the full feedback correction stage of the 15-dimensional system error state model not including the lever-arm error.

[0018] Concrete implementation steps of the present invention are as follows:

[0019] (1) Before the flight test, use the laser total station to measure the real lever arm R between the IMU and the GPS antenna in the INS / GPS integrated navigation system t ;

[0020] (2) Collect the inertial measurement data and GPS data of the INS / GPS integrated navigation system during the flight test, where the inertial measurement data includes the three-axis gyroscope data and three-axis accelerometer data The gyroscope data of the x, y, and z axes are expressed as

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Abstract

The invention discloses a method for correcting feedback of an inertial navigation system/global position system (INS/GPS) combined navigation system based on lever arm estimation. The method comprises the following steps of: extending a lever arm error to a system error state vector for estimation, judging whether a random error of an inertial device is accurately estimated through comparing whether the difference between a lever arm estimation value and a true value exists in an error threshold range, wherein the error of the inertial device is effectively estimated when the error of the lever arm estimation value is smaller than a set threshold value, measured outputs of a gyroscope and an accelerometer are corrected by utilizing the error of a random constant of the estimated inertial device, and unity feedback correction is performed during combined Kalman filtering, otherwise, feedback correction is not carried out on the error of the inertial device. According to the method, the error of the random constant of the inertial device can be subjected to effective estimation and unity feedback correction, and the precision of the INS/GPS combined navigation system can be effectively improved.

Description

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Claims

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Application Information

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Owner BEIHANG UNIV
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