CN104570033A - Airplane onboard GPS and inertial navigation system combined positioning method - Google Patents
Airplane onboard GPS and inertial navigation system combined positioning method Download PDFInfo
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- CN104570033A CN104570033A CN201510003803.7A CN201510003803A CN104570033A CN 104570033 A CN104570033 A CN 104570033A CN 201510003803 A CN201510003803 A CN 201510003803A CN 104570033 A CN104570033 A CN 104570033A
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- inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses an airplane onboard GPS and inertial navigation system combined positioning method. The method includes the following constructing steps that firstly, an inertial navigation angular speed error model is constructed, and an inertial navigation angular speed error is corrected through a GPS; a gyroscope output angular speed error model is constructed, an inertial navigation angular speed zero drift error is corrected through static or horizontal linear movement, an inertial navigation angular speed linear error is corrected through linear fitting of a Kalman filter, and finally the inertial navigation angular speed error is corrected; secondly, an accelerometer output acceleration error model is constructed, and an inertial navigation acceleration speed error is corrected by correcting an inertial navigation acceleration zero drift error and correcting an inertial navigation acceleration linear error through the Kalman filter. According to the airplane anboard GPS and inertial navigation system combined positioning method, due to the fact that the gyroscope output angular speed error model and the accelerometer output acceleration error model are constructed and the INS three-axis angular speed and the three-axis acceleration are corrected dynamically through the GPS, the GPS and the INS technology can be effectively combined.
Description
Technical field
The present invention relates to a kind of aircraft airborne GPS and inertial navigation system combined positioning method.
Background technology
Current airborne navigational system mainly contains GPS navigation system, inertial navigation system.GPS navigation system is the core system of aircraft radio navigational system, for the whole avionics system of aircraft provides Position, Velocity and Time information; Inertial navigation system provides 3-axis acceleration and the three axis angular rate information of current time for aircraft.
The civil aircraft development of current China is also in the starting stage, and the development of Airborne GPS and Airborne Inertial guiding combination location still belongs to blank, and the relevant design of integrated positioning mainly adopts direct-cut operation, fails GPS and INS combine with technique effectively.
Summary of the invention
The defect that the present invention seeks to exist for prior art provides a kind of aircraft airborne GPS and inertial navigation system combined positioning method.
The present invention for achieving the above object, adopts following technical scheme: a kind of aircraft airborne GPS and inertial navigation system combined positioning method, comprise following construction step:
A, structure inertial navigation angular velocity error model, revise inertial navigation angular velocity error by GPS; Namely build gyroscope Output speed error model, by static or horizontal rectilinear motion correction inertial navigation angular velocity zero drift error, by Kalman filter linear fit correction inertial navigation angular velocity linear error, finally realize the error correction to inertial navigation angular velocity;
B, structure inertial navigation acceleration error model, revise inertial navigation acceleration error by GPS; Namely accelerometer exports acceleration error model, by static or horizontal rectilinear motion correction inertial navigation acceleration attitude and zero drift error, by Kalman filter linear fit correction inertial navigation acceleration linear error, finally realize the error correction to inertial navigation acceleration;
C, structure inertial navigation and GPS integrated positioning model; Namely by GPS output signal strength, Horizontal Dilution of Precision, signal integrity parameter, and specify GPS and inertial navigation integrated positioning weight design strategy, finally realize the integrated positioning of GPS and inertial navigation.
Beneficial effect of the present invention:
1, gyroscope Output speed error model is set up, and by GPS dynamic corrections INS gyroscope three axis angular rate.
2, set up accelerometer and export acceleration error model, and by GPS dynamic corrections INS accelerometer 3-axis acceleration.
3, GPS and inertial navigation bit-weight design.
4, GPS and INS adopts KALMAN wave filter to realize data fusion, improves positioning precision and reliability.
Accompanying drawing explanation
Fig. 1 is GPS of the present invention and INS positioning function schematic diagram.
Fig. 2 is GPS modeling correction INS angular velocity error theory figure of the present invention.
Fig. 3 is GPS modeling correction INS acceleration error schematic diagram of the present invention.
Fig. 4 is GPS of the present invention and INS positioning flow schematic diagram.
Embodiment
In Fig. 1, be GPS of the present invention and INS positioning function schematic diagram.Shown in figure, PVT represents the Position, Velocity and Time information that GPS exports; Inertial navigation (being called for short inertial navigation or INS) exports ω x ω y ω Z and represents that inertial navigation system gyroscope exports three axis angular rates, inertial navigation exports axayaz and represents that namely inertial navigation system acceleration exports 3-axis acceleration, data fusion mainly comprises GPS and inertial navigation weight design, and KALMAN data fusion.
Shown in Fig. 2 to Fig. 4, relate to a kind of aircraft airborne GPS of the present invention and inertial navigation system combined positioning method, it comprises following construction step:
A, structure inertial navigation angular velocity error model, revise inertial navigation angular velocity error by GPS; Namely build gyroscope Output speed error model, by static or horizontal rectilinear motion correction inertial navigation angular velocity zero drift error, by Kalman filter linear fit correction inertial navigation angular velocity linear error, finally realize the error correction to inertial navigation angular velocity;
B, structure inertial navigation acceleration error model, revise inertial navigation acceleration error by GPS; Namely build accelerometer and export acceleration error model, by static or horizontal rectilinear motion correction inertial navigation acceleration attitude and zero drift error, by Kalman filter linear fit correction inertial navigation acceleration linear error, finally realize the error correction to inertial navigation acceleration;
C, structure inertial navigation and GPS integrated positioning model; Namely by GPS output signal strength, Horizontal Dilution of Precision, signal integrity parameter, and specify GPS and inertial navigation integrated positioning weight design strategy, finally realize the integrated positioning of GPS and inertial navigation.In integrated positioning process, adopt Kalman to realize the data fusion of two kinds of positioning tracks, ensure reliability and the precision of location.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1. aircraft airborne GPS and an inertial navigation system combined positioning method, is characterized in that, comprises following construction step:
A, structure inertial navigation angular velocity error model, revise inertial navigation angular velocity error by GPS; Namely build gyroscope Output speed error model, by static or horizontal rectilinear motion correction inertial navigation angular velocity zero drift error, by Kalman filter linear fit correction inertial navigation angular velocity linear error, finally realize the error correction to inertial navigation angular velocity;
B, structure inertial navigation acceleration error model, revise inertial navigation acceleration error by GPS; Namely build accelerometer and export acceleration error model, by static or horizontal rectilinear motion correction inertial navigation acceleration attitude and zero drift error, by Kalman filter linear fit correction inertial navigation acceleration linear error, finally realize the error correction to inertial navigation acceleration;
C, structure inertial navigation and GPS integrated positioning model; Namely by GPS output signal strength, Horizontal Dilution of Precision, signal integrity parameter, and specify GPS and inertial navigation integrated positioning weight design strategy, finally realize the integrated positioning of GPS and inertial navigation.
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| CN201510003803.7A CN104570033B (en) | 2015-01-06 | 2015-01-06 | Airplane onboard GPS and inertial navigation system combined positioning method |
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| CN201510003803.7A CN104570033B (en) | 2015-01-06 | 2015-01-06 | Airplane onboard GPS and inertial navigation system combined positioning method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606094A (en) * | 2016-02-19 | 2016-05-25 | 北京航天控制仪器研究所 | Information condition matched-filtering estimation method based on MEMS/GPS combined system |
| CN109159915A (en) * | 2018-08-17 | 2019-01-08 | 国营芜湖机械厂 | A method of it gives an encore and landing functional verification automatically |
| CN109443349A (en) * | 2018-11-14 | 2019-03-08 | 广州中海达定位技术有限公司 | A kind of posture Course Measure System and its fusion method, storage medium |
| CN109459773A (en) * | 2018-12-07 | 2019-03-12 | 成都路行通信息技术有限公司 | A kind of GNSS positioning and optimizing method based on Gsensor |
| CN109932739A (en) * | 2017-12-15 | 2019-06-25 | 财团法人车辆研究测试中心 | The localization method of Adaptive Weight adjustment |
| CN110319850A (en) * | 2018-03-30 | 2019-10-11 | 高德信息技术有限公司 | A kind of method and device for the zero migration obtaining gyroscope |
| CN110645972A (en) * | 2018-06-26 | 2020-01-03 | 北京金坤科创技术有限公司 | Indoor direction optimization method based on MEMS |
| CN111504311A (en) * | 2020-05-15 | 2020-08-07 | 杭州鸿泉物联网技术股份有限公司 | Multi-sensor fusion real-time positioning navigation device and method |
| CN111829793A (en) * | 2020-08-03 | 2020-10-27 | 广州导远电子科技有限公司 | Driving process comfort evaluation method, device and system based on combined positioning |
| CN112665614A (en) * | 2020-12-23 | 2021-04-16 | 中电科航空电子有限公司 | Inertial navigation reference calibration method for airborne broadband satellite communication equipment and related components |
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| CN101476894A (en) * | 2009-02-01 | 2009-07-08 | 哈尔滨工业大学 | Vehicle-mounted SINS/GPS combined navigation system performance reinforcement method |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606094B (en) * | 2016-02-19 | 2018-08-21 | 北京航天控制仪器研究所 | A kind of information condition matched filtering method of estimation based on MEMS/GPS combined systems |
| CN105606094A (en) * | 2016-02-19 | 2016-05-25 | 北京航天控制仪器研究所 | Information condition matched-filtering estimation method based on MEMS/GPS combined system |
| CN109932739A (en) * | 2017-12-15 | 2019-06-25 | 财团法人车辆研究测试中心 | The localization method of Adaptive Weight adjustment |
| CN110319850A (en) * | 2018-03-30 | 2019-10-11 | 高德信息技术有限公司 | A kind of method and device for the zero migration obtaining gyroscope |
| CN110645972B (en) * | 2018-06-26 | 2021-08-24 | 北京金坤科创技术有限公司 | Indoor direction optimization method based on MEMS |
| CN110645972A (en) * | 2018-06-26 | 2020-01-03 | 北京金坤科创技术有限公司 | Indoor direction optimization method based on MEMS |
| CN109159915A (en) * | 2018-08-17 | 2019-01-08 | 国营芜湖机械厂 | A method of it gives an encore and landing functional verification automatically |
| CN109159915B (en) * | 2018-08-17 | 2021-12-17 | 国营芜湖机械厂 | Method for verifying automatic return and landing functions |
| CN109443349A (en) * | 2018-11-14 | 2019-03-08 | 广州中海达定位技术有限公司 | A kind of posture Course Measure System and its fusion method, storage medium |
| CN109459773A (en) * | 2018-12-07 | 2019-03-12 | 成都路行通信息技术有限公司 | A kind of GNSS positioning and optimizing method based on Gsensor |
| CN111504311A (en) * | 2020-05-15 | 2020-08-07 | 杭州鸿泉物联网技术股份有限公司 | Multi-sensor fusion real-time positioning navigation device and method |
| CN111829793A (en) * | 2020-08-03 | 2020-10-27 | 广州导远电子科技有限公司 | Driving process comfort evaluation method, device and system based on combined positioning |
| CN112665614A (en) * | 2020-12-23 | 2021-04-16 | 中电科航空电子有限公司 | Inertial navigation reference calibration method for airborne broadband satellite communication equipment and related components |
| CN112665614B (en) * | 2020-12-23 | 2022-12-06 | 中电科航空电子有限公司 | Inertial navigation reference calibration method for airborne broadband satellite communication equipment and related components |
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| CN104570033B (en) | 2017-01-25 |
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