CN104570033B - 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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- CN104570033B CN104570033B CN201510003803.7A CN201510003803A CN104570033B CN 104570033 B CN104570033 B CN 104570033B CN 201510003803 A CN201510003803 A CN 201510003803A CN 104570033 B CN104570033 B CN 104570033B
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- inertial navigation
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- angular speed
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (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 has gps navigation system, inertial navigation system.Gps navigation system be aircraft no
The core system of line electricity navigation system, provides Position, Velocity and Time information for the whole avionics system of aircraft；Inertial navigation system is winged
Machine provides 3-axis acceleration and the three axis angular rate information of current time.
The at present civil aircraft development of China also in the starting stage, airborne gps and Airborne Inertial guiding combination positioning
Develop and still belong to blank, the relevant design of integrated positioning mainly adopts direct-cut operation, fails effectively to combine gps with ins technology.
Content of the invention
The present invention seeks to providing a kind of aircraft airborne gps and inertial navigation system group for the defect that prior art exists
Close localization method.
The present invention for achieving the above object, adopts the following technical scheme that a kind of aircraft airborne gps and inertial navigation system group
Close localization method, including step be constructed as below:
A, structure inertial navigation angular velocity error model, revise inertial navigation angular velocity error by gps；Build gyroscope output angle
Velocity error model, by static or horizontal rectilinear motion correction inertial navigation angular velocity zero drift error, by Kalman filtering
Device linear fit correction inertial navigation angular velocity linearity error, finally realizes the error correction to inertial navigation angular velocity；
B, structure inertial navigation acceleration error model, revise inertial navigation acceleration error by gps；I.e. accelerometer output accelerates
Degree error model, by static or horizontal rectilinear motion correction inertial navigation acceleration attitude and zero drift error, by Kalman
Filter linearity matching correction inertial navigation acceleration linearity error, finally realizes the error correction to inertial navigation acceleration；
C, structure inertial navigation and gps integrated positioning model；Pass through gps output signal strength, Horizontal Dilution of Precision, letter
Number integrity parameter, and specify gps and inertial navigation integrated positioning weight design strategy, finally realize the integrated positioning of gps and inertial navigation.
Beneficial effects of the present invention:
1st, set up gyroscope Output speed error model, and pass through gps dynamic corrections ins gyroscope three axis angular rate.
2nd, set up accelerometer output acceleration error model, and accelerated by gps dynamic corrections ins accelerometer three axle
Degree.
3rd, gps and the design of inertial navigation bit-weight.
4th, gps and ins realizes data fusion using kalman wave filter, improves positioning precision and reliability.
Brief description
Fig. 1 is gps and the INS positioning function schematic diagram of the present invention.
Fig. 2 is that ins angular velocity error theory figure is revised in the gps modeling of the present invention.
Fig. 3 is that ins acceleration error schematic diagram is revised in the gps modeling of the present invention.
Fig. 4 is gps and the INS positioning flow schematic diagram of the present invention.
Specific embodiment
In Fig. 1, it is gps and the INS positioning function schematic diagram of the present invention.Shown in figure, pvt represents that gps connects
The Position, Velocity and Time information of receipts machine output；Inertial navigation (abbreviation inertial navigation or ins) output ω x ω y ω z represents inertial navigation system
System gyroscope exports three axis angular rates, and inertial navigation output axayaz represents that inertial navigation system acceleration exports 3-axis acceleration, data
Merge main inclusion gps and inertial navigation weight design, and kalman data fusion.
Shown in Fig. 2 to Fig. 4, it is related to a kind of aircraft airborne gps and the inertial navigation system combined positioning method of the present invention, its
Including step be constructed as below:
A, structure inertial navigation angular velocity error model, revise inertial navigation angular velocity error by gps；Build gyroscope output angle
Velocity error model, by static or horizontal rectilinear motion correction inertial navigation angular velocity zero drift error, by Kalman filtering
Device linear fit correction inertial navigation angular velocity linearity error, finally realizes the error correction to inertial navigation angular velocity；
B, structure inertial navigation acceleration error model, revise inertial navigation acceleration error by gps；Build accelerometer output
Acceleration error model, by static or horizontal rectilinear motion correction inertial navigation acceleration attitude and zero drift error, by card
Thalmann filter linear fit correction inertial navigation acceleration linearity error, finally realizes the error correction to inertial navigation acceleration；
C, structure inertial navigation and gps integrated positioning model；Pass through gps output signal strength, Horizontal Dilution of Precision, letter
Number integrity parameter, and specify gps and inertial navigation integrated positioning weight design strategy, finally realize the integrated positioning of gps and inertial navigation.
During integrated positioning, using kalman realize two kinds of positioning tracks data fusion it is ensured that positioning reliability and precision.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (1)
1. a kind of aircraft airborne gps and inertial navigation system combined positioning method are it is characterised in that include being constructed as below step:
A, structure inertial navigation angular velocity error model, revise inertial navigation angular velocity error by gps；Build gyroscope Output speed
Error model, by static or horizontal rectilinear motion correction inertial navigation angular velocity zero drift error, by Kalman filter line
Property matching correction inertial navigation angular velocity linearity error, finally realizes the error correction to inertial navigation angular velocity；
B, structure inertial navigation acceleration error model, revise inertial navigation acceleration error by gps；Build accelerometer output to accelerate
Degree error model, is missed by the static or attitude of horizontal rectilinear motion correction inertial navigation acceleration and the null offset of inertial navigation acceleration
Difference, by Kalman filter linear fit correction inertial navigation acceleration linearity error, finally realizes the error to inertial navigation acceleration
Revise；
C, structure inertial navigation and gps integrated positioning model；I.e. complete by gps output signal strength, Horizontal Dilution of Precision, signal
Good property 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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| CN104570033A CN104570033A (en) | 2015-04-29 |
| CN104570033B true CN104570033B (en) | 2017-01-25 |
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Families Citing this family (10)
| 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 |
| 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 |
| CN110319850B (en) * | 2018-03-30 | 2021-03-16 | 阿里巴巴（中国）有限公司 | Method and device for acquiring zero offset of 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 |
| 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 |
| CN109459773B (en) * | 2018-12-07 | 2020-09-08 | 成都路行通信息技术有限公司 | GNSS positioning optimization method based on Gsense |
| 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 |
| 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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| GB0013722D0 (en) * | 2000-06-07 | 2001-03-14 | Secr Defence | Adaptive GPS and INS integration system |
| CN101476894B (en) * | 2009-02-01 | 2011-06-29 | 哈尔滨工业大学 | Vehicle-mounted SINS/GPS combined navigation system performance reinforcement method |
| CN102830414B (en) * | 2012-07-13 | 2014-12-24 | 北京理工大学 | Combined navigation method based on SINS/GPS (strapdown inertial navigation system/global position system) |
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