JPH06317428A - Inertial navigation method - Google Patents

Inertial navigation method

Info

Publication number
JPH06317428A
JPH06317428A JP10539993A JP10539993A JPH06317428A JP H06317428 A JPH06317428 A JP H06317428A JP 10539993 A JP10539993 A JP 10539993A JP 10539993 A JP10539993 A JP 10539993A JP H06317428 A JPH06317428 A JP H06317428A
Authority
JP
Japan
Prior art keywords
navigation
data
inertial
sensor
error
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP10539993A
Other languages
Japanese (ja)
Inventor
Takehiro Onoki
健裕 小野木
Keiji Kuroda
啓二 黒田
Hideo Kumagai
秀夫 熊谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Japan Steel Works Ltd
Technical Research and Development Institute of Japan Defence Agency
Tamagawa Seiki Co Ltd
Original Assignee
Japan Steel Works Ltd
Technical Research and Development Institute of Japan Defence Agency
Tamagawa Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Japan Steel Works Ltd, Technical Research and Development Institute of Japan Defence Agency, Tamagawa Seiki Co Ltd filed Critical Japan Steel Works Ltd
Priority to JP10539993A priority Critical patent/JPH06317428A/en
Publication of JPH06317428A publication Critical patent/JPH06317428A/en
Pending legal-status Critical Current

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  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

PURPOSE:To eliminate the hourly error of the inertia sensor of an inertial navigation system so as to improve the accuracy of the sensor by correcting first navigation data which contains errors generated by the inertia sensor by using second navigation data from a GPS navigation system. CONSTITUTION:First navigation data 1a from an inertial navigation system 1 and second navigation data 3a from a GPS navigation system 3 are inputted to a comparing means 2 and the means 2 compares the data 1a and 3a with each other and inputs the difference between the two data to a state estimation filter 4 as an error 2a. The filter 4 calculates the estimated errors of an inertia and GPS sensors and feeds back the calculated errors to the systems 1 and 3 as estimated sensor errors 4a and 4b. When these operations are repeated, the accuracy of the navigation data la and 3a can be improved.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、慣性航法方法に関し、
特に、航空機及び船舶等の移動体の姿勢、方位及び位置
等を正確に把握するため、慣性航法装置とグローバルポ
ジショニングシステム（以下、ＧＰＳとする）航法装置
をハイブリッド化して用いるための新規な改良に関す
る。BACKGROUND OF THE INVENTION The present invention relates to an inertial navigation method,
In particular, the present invention relates to a new improvement for using an inertial navigation system and a global positioning system (hereinafter referred to as GPS) navigation system in a hybrid manner in order to accurately grasp the posture, direction, position, etc. of a moving body such as an aircraft and a ship. .

【０００２】[0002]

【従来の技術】従来、用いられていたこの種の慣性航法
方法としては、一般に、慣性センサのみによる航法装置
と、周知のＧＰＳによる航法装置とが別々に単独に存在
し、各々単独で何れか一方が採用されていた。2. Description of the Related Art Conventionally, as an inertial navigation method of this type which has been conventionally used, generally, a navigation apparatus using only an inertial sensor and a known GPS navigation apparatus exist separately, and each of them is independent. One was adopted.

【０００３】[0003]

【発明が解決しようとする課題】従来の慣性航法方法
は、以上のように構成されていたため、次のような課題
が存在していた。すなわち、慣性センサによる航法装置
は、慣性センサの誤差により長時間精度が低く、長時間
にわたって使用するには極めて複雑な補正を必要とし
た。Since the conventional inertial navigation method is configured as described above, there are the following problems. That is, the navigation device using the inertial sensor has low accuracy for a long time due to an error of the inertial sensor, and requires an extremely complicated correction for long-term use.

【０００４】本発明は、以上のような課題を解決するた
めになされたもので、特に、航空機及び船舶等の移動体
の姿勢、方位及び位置等を正確に把握するため、慣性航
法装置とＧＰＳ航法装置をハイブリッド化して用いるよ
うにした慣性航法方法を提供することを目的とする。The present invention has been made to solve the above problems, and in particular, an inertial navigation system and a GPS are used to accurately grasp the posture, direction and position of a moving body such as an aircraft and a ship. An object of the present invention is to provide an inertial navigation method in which a navigation device is hybridized and used.

【０００５】[0005]

【課題を解決するための手段】本発明による慣性航法方
法は、慣性航法装置からの第１航法データとグローバル
ポジショニングシステム航法装置からの第２航法データ
とを比較し、この比較により得られた誤差を状態推定フ
ィルタに入力して第１推定センサ誤差量及び第２推定セ
ンサ誤差量を推定し、前記各推定センサ誤差量に基づい
て前記各航法装置の補正を行う方法である。The inertial navigation method according to the present invention compares the first navigation data from the inertial navigation device with the second navigation data from the global positioning system navigation device, and obtains the error obtained by this comparison. Is input to the state estimation filter to estimate the first estimated sensor error amount and the second estimated sensor error amount, and the navigation devices are corrected based on the estimated sensor error amounts.

【０００６】[0006]

【作用】本発明による慣性航法方法においては、慣性航
法装置の慣性センサから発生する誤差を含む第１航法デ
ータを、時間的に安定したＧＰＳ航法装置からの第２航
法データを用いることにより補正し、前記慣性センサの
時間的な誤差をなくして精度を向上させることができ
る。In the inertial navigation method according to the present invention, the first navigation data including the error generated from the inertial sensor of the inertial navigation device is corrected by using the second navigation data from the GPS navigation device which is stable in time. The accuracy can be improved by eliminating the time error of the inertial sensor.

【０００７】[0007]

【実施例】以下、図面と共に本発明による慣性航法方法
の好適な実施例について詳細に説明する。図１におい
て、符号１で示されるものは、加速度計等の慣性センサ
（図示せず）を有する慣性航法装置であり、この慣性航
法装置１から出力される第１航法データ１ａは減算器か
らなる比較手段２に入力される。また、この比較手段２
には、ＧＰＳセンサ（図示せず）を有するＧＰＳ航法装
置３から出力される第２航法データ３ａが入力されてい
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the inertial navigation method according to the present invention will be described in detail below with reference to the drawings. In FIG. 1, reference numeral 1 is an inertial navigation device having an inertial sensor (not shown) such as an accelerometer, and the first navigation data 1a output from the inertial navigation device 1 is a subtractor. It is input to the comparison means 2. Also, this comparison means 2
The second navigation data 3a output from the GPS navigation device 3 having a GPS sensor (not shown) is input to the.

【０００８】前記比較手段２において比較された前記各
航法データ１ａ，３ａ間の誤差２ａは、周知のカルマン
フィルタ等からなる状態推定フィルタ４に入力され、こ
の状態推定フィルタ４から得られた第１推定センサ誤差
量４ａ及び第２推定センサ誤差量４ｂは前記慣性航法装
置１及びＧＰＳ航法装置３に各々入力されている。The error 2a between the navigation data 1a and 3a compared by the comparison means 2 is input to a state estimation filter 4 which is a well-known Kalman filter or the like, and the first estimation obtained from the state estimation filter 4 is made. The sensor error amount 4a and the second estimated sensor error amount 4b are input to the inertial navigation device 1 and the GPS navigation device 3, respectively.

【０００９】次に、動作について述べる。まず、慣性航
法装置１からの第１航法データ１ａとＧＰＳ航法装置３
からの第２航法データ３ａとが比較手段２に入力されて
比較され、その差が誤差２ａとして状態推定フィルタ４
に入力される。Next, the operation will be described. First, the first navigation data 1a from the inertial navigation device 1 and the GPS navigation device 3
The second navigation data 3a from is input to the comparison means 2 and compared, and the difference between them is regarded as an error 2a, and the state estimation filter 4
Entered in.

【００１０】前記状態推定フィルタ４では、前述の慣性
センサの推定誤差とＧＰＳセンサの推定誤差を算出し、
各推定センサ誤差量４ａ，４ｂとして前記慣性航法装置
１及びＧＰＳ航法装置３に帰還される。前述の動作を反
覆することにより、前記各航法データ１ａ，３ａの精度
を向上させることができる。The state estimation filter 4 calculates the above-mentioned inertial sensor estimation error and GPS sensor estimation error,
The estimated sensor error amounts 4a and 4b are returned to the inertial navigation device 1 and the GPS navigation device 3. By repeating the above operation, the accuracy of each of the navigation data 1a and 3a can be improved.

【００１１】[0011]

【発明の効果】本発明による慣性航法方法は、以上のよ
うに構成されているため、慣性航法装置を長時間使用し
た場合に累積する誤差を補正することができ、ＧＰＳ航
法装置からのＧＰＳ信号等の遮断においても慣性航法装
置のバックアップが行われ、常に高精度な慣性航法を達
成することができる。Since the inertial navigation method according to the present invention is configured as described above, it is possible to correct the error accumulated when the inertial navigation device is used for a long time, and the GPS signal from the GPS navigation device is corrected. The inertial navigation system is backed up even when the vehicle is blocked, etc., so that highly accurate inertial navigation can always be achieved.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明による慣性航法方法を示すブロック図で
ある。FIG. 1 is a block diagram showing an inertial navigation method according to the present invention.

【符号の説明】[Explanation of symbols]

１ 慣性航法装置 １ａ 第１航法データ ２ａ 誤差 ３ ＧＰＳ航法装置 ３ａ 第２航法データ ４ 状態推定フィルタ ４ａ 第１推定センサ誤差量 ４ｂ 第２推定センサ誤差量 1 Inertial navigation device 1a First navigation data 2a Error 3 GPS navigation device 3a Second navigation data 4 State estimation filter 4a First estimated sensor error amount 4b Second estimated sensor error amount

───────────────────────────────────────────────────── フロントページの続き (72)発明者 熊谷 秀夫 長野県飯田市大休1879番地 多摩川精機株 式会社飯田工場内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hideo Kumagai 1879 Okyu, Iida City, Nagano Prefecture Tamagawa Seiki Co., Ltd. Iida Factory

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 慣性航法装置(1)からの第１航法データ
(1a)とグローバルポジショニングシステム航法装置(3)
からの第２航法データ(3a)とを比較し、この比較により
得られた誤差(2a)を状態推定フィルタ(4)に入力して第
１推定センサ誤差量(4a)及び第２推定センサ誤差量(4b)
を推定し、前記各推定センサ誤差量(4a,4b)に基づいて
前記各航法装置(1,3)の補正を行うことを特徴とする慣
性航法方法。1. The first navigation data from the inertial navigation system (1)
(1a) and Global Positioning System Navigation System (3)
The second navigation data (3a) from the above is compared, and the error (2a) obtained by this comparison is input to the state estimation filter (4) to input the first estimated sensor error amount (4a) and the second estimated sensor error. Quantity (4b)
Is performed, and the respective navigation devices (1, 3) are corrected based on the estimated sensor error amounts (4a, 4b).
JP10539993A 1993-05-06 1993-05-06 Inertial navigation method Pending JPH06317428A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP10539993A JPH06317428A (en) 1993-05-06 1993-05-06 Inertial navigation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP10539993A JPH06317428A (en) 1993-05-06 1993-05-06 Inertial navigation method

Publications (1)

Publication Number Publication Date
JPH06317428A true JPH06317428A (en) 1994-11-15

Family

ID=14406560

Family Applications (1)

Application Number Title Priority Date Filing Date
JP10539993A Pending JPH06317428A (en) 1993-05-06 1993-05-06 Inertial navigation method

Country Status (1)

Country Link
JP (1) JPH06317428A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002350157A (en) * 2001-05-30 2002-12-04 Honda Motor Co Ltd Location correcting device
US6631323B2 (en) * 2000-05-30 2003-10-07 Northrop Grumman Corporation Method and apparatus for improving performance of an inertial navigation system having global positioning system corrections
JP2007003315A (en) * 2005-06-23 2007-01-11 Mitsui Eng & Shipbuild Co Ltd Method of processing positioning data
JP2008513730A (en) * 2003-09-23 2008-05-01 ハイドロ−ケベック Method and apparatus for determining the position of an object in water in real time
CN101858748A (en) * 2010-05-28 2010-10-13 南京航空航天大学 Fault-tolerance autonomous navigation method of multi-sensor of high-altitude long-endurance unmanned plane
JP2010261842A (en) * 2009-05-08 2010-11-18 Ihi Corp Inertial navigation device, flying object, and navigation data calculation method
KR101988266B1 (en) * 2018-03-09 2019-06-12 국방과학연구소 Rapid initial alignment method of slave inertial navigation system mounted on rotorcraft
US11441905B2 (en) 2019-04-02 2022-09-13 Kabushiki Kaisha Toyota Chuo Kenkyusho Inertial navigation device and inertial navigation method

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6631323B2 (en) * 2000-05-30 2003-10-07 Northrop Grumman Corporation Method and apparatus for improving performance of an inertial navigation system having global positioning system corrections
JP2002350157A (en) * 2001-05-30 2002-12-04 Honda Motor Co Ltd Location correcting device
JP4597423B2 (en) * 2001-05-30 2010-12-15 本田技研工業株式会社 Position correction device
JP2008513730A (en) * 2003-09-23 2008-05-01 ハイドロ−ケベック Method and apparatus for determining the position of an object in water in real time
JP2007003315A (en) * 2005-06-23 2007-01-11 Mitsui Eng & Shipbuild Co Ltd Method of processing positioning data
JP4624192B2 (en) * 2005-06-23 2011-02-02 三井造船株式会社 Positioning data processing method
JP2010261842A (en) * 2009-05-08 2010-11-18 Ihi Corp Inertial navigation device, flying object, and navigation data calculation method
CN101858748A (en) * 2010-05-28 2010-10-13 南京航空航天大学 Fault-tolerance autonomous navigation method of multi-sensor of high-altitude long-endurance unmanned plane
KR101988266B1 (en) * 2018-03-09 2019-06-12 국방과학연구소 Rapid initial alignment method of slave inertial navigation system mounted on rotorcraft
US11441905B2 (en) 2019-04-02 2022-09-13 Kabushiki Kaisha Toyota Chuo Kenkyusho Inertial navigation device and inertial navigation method

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