CN102052922A - Disturbing gravity compensation method for impacts of actual gravity field on inertial navigation system - Google Patents
Disturbing gravity compensation method for impacts of actual gravity field on inertial navigation system Download PDFInfo
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- CN102052922A CN102052922A CN 201010552882 CN201010552882A CN102052922A CN 102052922 A CN102052922 A CN 102052922A CN 201010552882 CN201010552882 CN 201010552882 CN 201010552882 A CN201010552882 A CN 201010552882A CN 102052922 A CN102052922 A CN 102052922A
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Abstract
The invention discloses a disturbing gravity compensation method for the impacts of an actual gravity field on an inertial navigation system. The disturbing gravity compensation method comprises the following steps: collecting east and north accelerations of the inertial navigation system; separating disturbing gravity to get east and north components of the disturbing gravity; enabling the east acceleration of the inertial navigation system to plus the east component of the disturbing gravity to get the east acceleration of the inertial navigation system after disturbing gravity compensation; enabling the north acceleration of the inertial navigation system to plus the north component of the disturbing gravity to get the north acceleration of the inertial navigation system after the disturbing gravity compensation; performing secondary integration on the east acceleration and the north acceleration after the disturbing gravity compensation to get east displacement and north displacement of the inertial navigation system; enabling the east displacement of the inertial navigation system to plus the north displacement of the inertial navigation system to get a new output position of the inertial navigation system; adopting a normal gravity formula to get normal gravity of the new output position of the inertial navigation system; getting actual gravity in the position where the inertial navigation system is located; and using an actual gravity vector to minus a normal gravity vector to get the east component and the north component of the disturbing gravity. With the adoption of the disturbing gravity compensation method, the precision of the inertial navigation system can be improved.
Description
Technical field
The present invention relates to the inertial navigation technology field, refer to that particularly the A/W field influences the compensation method of inertial navigation system disturbing gravity.
Technical background
Because the covering of seawater, modes such as the satellite navigation of ground or aerial successful Application, celestial navigation can't normally be used on the aircraft under water, and both at home and abroad the mode (as modes such as the navigation of gravity field coupling, magnetic field coupling navigation, terrain match navigation) based on the coupling navigation of marine physics field is placed high hopes, but this mode is used from through engineering approaches at present certain distance is arranged still, this makes current inertial navigation system remain the important leverage means of submarine navigation device safe navigation.
The error of inertial navigation system accumulates high-precision key factor when being the long-distance navigation of restriction inertial navigation system under water in time all the time, and its basic reason is the existence owing to gravity disturbance (space same point A/W and normal gravity poor).For in the inertial navigation system of low precision because self error (gyroscopic drift, accelerometer drift etc.) of its sensor is relatively large, generally adopts normal gravity to carry out gravity compensation and can meet the demands.And along with the development of High Accuracy Inertial Navigation System, self precision of inertial sensor is greatly improved, gravity disturbance has become topmost error source in the inertial navigation system, the further raising of inertial navigation system precision will depend primarily on the degree of understanding to gravity field, reason owing to topographic relief, there is bigger difference between A/W and the gravity value calculated by normal gravity formula on the ground, therefore in the layout of inertial navigation mechanical equation, uses the discontented full border of the way application demand of normal gravity in the past.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of A/W field that can improve the inertial navigation system precision to influence the compensation method of inertial navigation system disturbing gravity.
For achieving the above object, the designed a kind of A/W of the present invention field influences the compensation method of inertial navigation system disturbing gravity, and it comprises the steps:
Step S11: gather the output quantity of the east orientation accelerometer of inertial navigation system, obtain inertial navigation east orientation acceleration;
Step S51: obtain the disturbing gravity east component by the disturbing gravity separation;
Step S21: gather the output quantity of the north orientation accelerometer of inertial navigation system, obtain inertial navigation north orientation acceleration;
Step S52: obtain the disturbing gravity north component by the disturbing gravity separation;
Step S12: described inertial navigation east orientation acceleration and the addition of disturbing gravity east component are obtained the inertial navigation east orientation acceleration S13 that the process disturbing gravity compensates;
Step S22: described inertial navigation north orientation acceleration and the addition of disturbing gravity north component are obtained the inertial navigation north orientation acceleration S23 that the process disturbing gravity compensates;
Step S14:, obtain inertial navigation east orientation speed to described inertial navigation east orientation integrated acceleration through the disturbing gravity compensation;
Step S24:, obtain inertial navigation north orientation speed to described inertial navigation north orientation integrated acceleration through the disturbing gravity compensation;
Step S15:, obtain inertial navigation east orientation displacement S16 to described inertial navigation east orientation rate integrating;
Step S25:, obtain inertial navigation north orientation displacement S26 to described inertial navigation north orientation rate integrating;
Step S3: the displacement of described inertial navigation east orientation is added the displacement of inertial navigation north orientation, obtain the new outgoing position S31 of inertial navigation;
Step S32: adopt normal gravity formula, obtain normal gravity S33 at the new outgoing position place of described inertial navigation;
Step S41: the A/W S42 that measures place, inertial navigation present position with gravity sensor;
Step S5: deduct the normal gravity vector with described A/W vector, obtain disturbing gravity, and obtain respectively disturbing gravity among the described step S51 in the component of east orientation and described step S52 disturbing gravity at the component of north orientation.
Preferably, it also comprises step S6: gather the inertial navigation position data at the new outgoing position S31 place of described inertial navigation, described inertial navigation position data is added inertial navigation east orientation displacement S16 and inertial navigation north orientation displacement S26, obtain the new outgoing position S31 of further inertial navigation.
The invention has the advantages that: by in the resolving of inertial navigation position in conjunction with A/W information, can access more accurate in locating result, improved the precision of inertial navigation system.
Description of drawings
Fig. 1 influences the schematic diagram of inertial navigation system disturbing gravity compensation method for the A/W field;
Fig. 2 influences the synoptic diagram of inertial navigation system disturbing gravity compensation method for the A/W field.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments:
Influence the compensation method of inertial navigation system disturbing gravity as described a kind of A/W field, Fig. 1～2, it comprises the steps:
Step S11: gather the output quantity of the east orientation accelerometer of inertial navigation system, obtain inertial navigation east orientation acceleration;
Step S51: obtain the disturbing gravity east component by the disturbing gravity separation;
Step S21: gather the output quantity of the north orientation accelerometer of inertial navigation system, obtain inertial navigation north orientation acceleration;
Step S52: obtain the disturbing gravity north component by the disturbing gravity separation;
Step S12: described inertial navigation east orientation acceleration and the addition of disturbing gravity east component are obtained the inertial navigation east orientation acceleration S13 that the process disturbing gravity compensates;
Step S22: described inertial navigation north orientation acceleration and the addition of disturbing gravity north component are obtained the inertial navigation north orientation acceleration S23 that the process disturbing gravity compensates;
Step S14:, obtain inertial navigation east orientation speed to described inertial navigation east orientation integrated acceleration through the disturbing gravity compensation;
Step S24:, obtain inertial navigation north orientation speed to described inertial navigation north orientation integrated acceleration through the disturbing gravity compensation;
Step S15:, obtain inertial navigation east orientation displacement S16 to described inertial navigation east orientation rate integrating;
Step S25:, obtain inertial navigation north orientation displacement S26 to described inertial navigation north orientation rate integrating;
Step S3: the displacement of described inertial navigation east orientation is added the displacement of inertial navigation north orientation, obtain the new outgoing position S31 of inertial navigation;
Step S32: adopt normal gravity formula, obtain normal gravity S33 at the new outgoing position place of described inertial navigation;
The constant that normal gravity formula of the present invention is recommended by 17 IUGG conferences in 1979 is derived, and its representation is:
γ
0=978032.7 (1+0.005302sin
2B-0.0000058sin
22B) * 10
-5Ms
-2In the formula, B is a latitude, and m is a rice, and s is second.
Step S41: the A/W S42 that measures place, inertial navigation present position with gravity sensor;
Step S5: deduct the normal gravity vector with described A/W vector, obtain disturbing gravity, and obtain respectively disturbing gravity among the described step S51 in the component of east orientation and described step S52 disturbing gravity at the component of north orientation.
In the technique scheme, it also comprises step S6: the inertial navigation position data of gathering the new outgoing position S31 place of described inertial navigation, described inertial navigation position data is added inertial navigation east orientation displacement S16 and inertial navigation north orientation displacement S26, obtain the new outgoing position S31 of further inertial navigation.
In the technique scheme, the new outgoing position of the inertial navigation among the step S31 is the accurate position of inertial navigation system after the disturbing gravity compensation.
Principle of the present invention is for as shown in Figure 1, recorded current location gravity and then obtained the disturbing gravity of current location by gravity sensor; Calculate the current location normal gravity by the normal gravity computing formula; Determine the true acceleration of current location according to current location disturbing gravity, normal gravity and inertial navigation accelerometer output ground acceleration; True acceleration quadratic integral to current location obtains new position location.Above-mentioned whole operation step is finished in the PC1044 embedded computer.
The above is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also are considered as protection scope of the present invention.
The content that this instructions is not described in detail belongs to this area professional and technical personnel's known prior art.
Claims (2)
1. an A/W field influences the compensation method of inertial navigation system disturbing gravity, and it comprises the steps:
Step S11: gather the output quantity of the east orientation accelerometer of inertial navigation system, obtain inertial navigation east orientation acceleration;
Step S51: obtain the disturbing gravity east component by the disturbing gravity separation;
Step S21: gather the output quantity of the north orientation accelerometer of inertial navigation system, obtain inertial navigation north orientation acceleration;
Step S52: obtain the disturbing gravity north component by the disturbing gravity separation;
Step S12: described inertial navigation east orientation acceleration and the addition of disturbing gravity east component are obtained the inertial navigation east orientation acceleration S13 that the process disturbing gravity compensates;
Step S22: described inertial navigation north orientation acceleration and the addition of disturbing gravity north component are obtained the inertial navigation north orientation acceleration S23 that the process disturbing gravity compensates;
Step S14:, obtain inertial navigation east orientation speed to described inertial navigation east orientation integrated acceleration through the disturbing gravity compensation;
Step S24:, obtain inertial navigation north orientation speed to described inertial navigation north orientation integrated acceleration through the disturbing gravity compensation;
Step S15:, obtain inertial navigation east orientation displacement S16 to described inertial navigation east orientation rate integrating;
Step S25:, obtain inertial navigation north orientation displacement S26 to described inertial navigation north orientation rate integrating;
Step S3: the displacement of described inertial navigation east orientation is added the displacement of inertial navigation north orientation, obtain the new outgoing position S31 of inertial navigation;
Step S32: adopt normal gravity formula, obtain normal gravity S33 at the new outgoing position place of described inertial navigation;
Step S41: the A/W S42 that measures place, inertial navigation present position with gravity sensor;
Step S5: deduct the normal gravity vector with described A/W vector, obtain disturbing gravity, and obtain respectively disturbing gravity among the described step S51 in the component of east orientation and described step S52 disturbing gravity at the component of north orientation.
2. A/W according to claim 1 field influences the compensation method of inertial navigation system disturbing gravity, it is characterized in that: it also comprises step S6: the inertial navigation position data of gathering the new outgoing position S31 place of described inertial navigation, described inertial navigation position data is added inertial navigation east orientation displacement S16 and inertial navigation north orientation displacement S26, obtain the new outgoing position S31 of further inertial navigation.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102788578A (en) * | 2012-07-25 | 2012-11-21 | 中国人民解放军海军工程大学 | Matching navigation method based on local gravity field approximation |
| CN105258699A (en) * | 2015-10-22 | 2016-01-20 | 北京航空航天大学 | Inertial navigation method based on real-time gravity compensation |
| CN105606093A (en) * | 2016-01-29 | 2016-05-25 | 北京航空航天大学 | Inertial navigation method and device based on real-time gravity compensation |
| CN107677292A (en) * | 2017-09-28 | 2018-02-09 | 中国人民解放军国防科技大学 | Vertical line deviation compensation method based on gravity field model |
| CN108398126A (en) * | 2018-01-19 | 2018-08-14 | 中国人民解放军92859部队 | A kind of high-precision air-sea gravity measurement platform inclination correction model |
| CN109085655A (en) * | 2018-09-19 | 2018-12-25 | 中国船舶重工集团公司第七0七研究所 | A kind of underwater platform gravity measurement scheme and verification method |
| CN109470241A (en) * | 2018-11-23 | 2019-03-15 | 中国船舶重工集团公司第七0七研究所 | A kind of inertial navigation system and method having the autonomous compensation function of gravity disturbance |
| CN112965123A (en) * | 2021-02-08 | 2021-06-15 | 中国人民解放军92859部队 | Method for calculating north component of external disturbance gravity based on gravity anomaly |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102788578B (en) * | 2012-07-25 | 2015-04-22 | 中国人民解放军海军工程大学 | Matching navigation method based on local gravity field approximation |
| CN102788578A (en) * | 2012-07-25 | 2012-11-21 | 中国人民解放军海军工程大学 | Matching navigation method based on local gravity field approximation |
| CN105258699A (en) * | 2015-10-22 | 2016-01-20 | 北京航空航天大学 | Inertial navigation method based on real-time gravity compensation |
| CN105606093B (en) * | 2016-01-29 | 2018-04-03 | 北京航空航天大学 | Inertial navigation method and device based on gravity real-Time Compensation |
| CN105606093A (en) * | 2016-01-29 | 2016-05-25 | 北京航空航天大学 | Inertial navigation method and device based on real-time gravity compensation |
| CN107677292B (en) * | 2017-09-28 | 2019-11-15 | 中国人民解放军国防科技大学 | Vertical line deviation compensation method based on gravity field model |
| CN107677292A (en) * | 2017-09-28 | 2018-02-09 | 中国人民解放军国防科技大学 | Vertical line deviation compensation method based on gravity field model |
| CN108398126A (en) * | 2018-01-19 | 2018-08-14 | 中国人民解放军92859部队 | A kind of high-precision air-sea gravity measurement platform inclination correction model |
| CN109085655A (en) * | 2018-09-19 | 2018-12-25 | 中国船舶重工集团公司第七0七研究所 | A kind of underwater platform gravity measurement scheme and verification method |
| CN109085655B (en) * | 2018-09-19 | 2020-06-19 | 中国船舶重工集团公司第七0七研究所 | Underwater platform gravity measurement scheme and verification method |
| CN109470241A (en) * | 2018-11-23 | 2019-03-15 | 中国船舶重工集团公司第七0七研究所 | A kind of inertial navigation system and method having the autonomous compensation function of gravity disturbance |
| CN112965123A (en) * | 2021-02-08 | 2021-06-15 | 中国人民解放军92859部队 | Method for calculating north component of external disturbance gravity based on gravity anomaly |
| CN112965123B (en) * | 2021-02-08 | 2022-04-19 | 中国人民解放军92859部队 | Method for calculating north component of external disturbance gravity based on gravity anomaly |
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Application publication date: 20110511 |