RU2427800C1 - Object navigational information formation method - Google Patents

Abstract

FIELD: instrument making. ^ SUBSTANCE: formation of signal difference of similar parameters is performed from inertial navigation system and multi-antenna satellite receiver and smoothing of differences as per time with time constant equal to or exceeding the correction interval of errors of multi-antenna satellite receiver. At that, summing of smoothed signals and corresponding signals of inertial navigation system is performed. It allows performing compensation of slowly changing errors of inertial navigation system, and resultant signal will contain only smoothed errors from satellite receiver. ^ EFFECT: enlarging functional capabilities. ^ 1 dwg

Description

The present invention relates to navigation and can be used, in particular, when navigating sea and river vessels to generate navigation data of an object (data on the position, velocity projections and orientation angles of the vessel in a horizontal coordinate system).

A known method of generating navigation data by integrating navigation data signals with an inertial navigation system (INS) and navigation data signals about the position and speed of an object relative to one antenna of the satellite receiver of the global GPS navigation system and adjusting the initial signals according to the integration results (see US Pat. No. 6,408,245, IPC G06G 7/78, NKI 701/216).

In this method, the integration of the ANN and satellite receiver signals is carried out by simultaneously filtering them in two local filters with different elements of the state vectors and then filtering the output signals of the local filters in the Kalman filter. In this case, the first local filter has a dimension of 15 and includes the following elements of the ANN error:

- 3 - in speed,

- 3 - in orientation,

- 3 - by position,

- 3 - according to the drifts of gyroscopes,

- 3 - due to accelerometer errors.

The second local filter includes 15 elements of the state vector of the first filter and 3 position elements according to the GPS receiver.

There is a method of generating navigation data based on the formation of object data signals from the ANN and from a dual-antenna satellite GPS receiver and adjusting the source signals according to the integration results (see US Pat. No. 5657025, IPC G01S 5/02, NKI 342/357 - adopted as a prototype )

In this method, as in the analogue, the integration of ANN signals and a satellite receiver (position, speed, course) is carried out in the Kalman filter with the number of components of the state vector used in it 15 or more.

A common drawback of both the analog and the prototype is the large computational costs when processing signals using Kalman filter algorithms with a state vector dimension greater than 15, and the instability of the computational process during continuous operation of the filters for more than 100 hours, which limits the accuracy of the continuous generation of navigation data.

The technical problem solved by the claimed method is the exclusion of the filtering processes of the ANN and satellite receiver signals in high order Kalman filters (15 or more), which allows to increase the stability and continuity of computational processes and, accordingly, the accuracy of the continuous generation of object navigation data.

This problem is solved by the fact that in the method of generating the navigation data of the object by integrating the navigation data signals from the ANN and from the satellite receiver and adjusting the initial ANN signals according to the integration results, integration is carried out by forming the differences of the signals of the same navigation parameters from the ANN and the multi-antenna satellite receiver and subsequent smoothing by time of the received differences with a time constant equal to or greater than the interval of correction of errors in satellite reception nickname, and the adjustment of the initial data of the ANN is carried out by summing the smoothed signals of the differences of the navigation parameters with the corresponding ANN signals.

The essence of the claimed method is illustrated in the drawing, where are indicated:

1 - multi-antenna satellite receiver;

2 - inertial navigation system;

3 ₁ -3n - device for the formation of differences of the same navigation parameters;

4 ₁ -4n - smoothing devices;

5 ₁ -5n are summing devices.

The number of navigation parameters n is determined by the requirements for a particular system that implements the method, and can reach 9, including:

- 3 - characterizing the position of the object (for example, latitude, longitude, height);

- 3 - characterizing the speed of the object (for example, the northern, eastern and vertical components of speed);

- 3 - characterizing the orientation of the object (e.g. heading, roll angle, trim / pitch angle).

For each of the n navigation parameters of the same name, actions are simultaneously performed in the following sequence: in the difference generating devices 3 ₁ -3n, differences between the data of the multi-antenna satellite receiver 1 and the inertial navigation system 2 are formed;

- differences from 3 ₁ -3n are fed to the inputs of the corresponding smoothing devices 4 _l -4n, and from their output, the smoothed values of the differences are sent to the summing devices 5 _l -5n for summing with the data received from ANN 2. In this case, since data errors from satellite receiver 1 have a high frequency of intrinsic changes, they are effectively filtered by smoothing devices 4 with a time constant of smoothing devices 4≈0.5 ÷ 5 minutes, which corresponds to or exceeds the error correction interval of satellite receiver 1. Therefore, at the output of smoothing devices 4 the errors from the satellite receiver 1 will be reduced, the errors from the ANN 2, slowly changing in time, will pass smoothing devices 4 without changes. To the summing devices 5, the errors of ANN 2 will come with different signs and, therefore, be compensated.

For short interruptions in the operation of a multi-antenna satellite receiver at the output of the ANN, it is possible to use estimates of the errors of the ANN previously obtained in the smoothing device.

Despite the fact that the degree of error compensation by smoothing devices will be less than when using the optimal Kalman filter, when implementing the proposed method for generating navigation data of an object at significant time intervals (100 hours or more), the computational integration costs sharply decrease and the stability of computational processes increases comparison with the implementation of the optimal Kalman filter (of the order of 15 or more), as a result of which the accuracy of the continuous formation of data is increased x.

Claims (1)

A method for generating navigation data of an object by integrating navigation data signals from an inertial navigation system and from a satellite receiver and adjusting the initial signals of the inertial navigation system according to the integration results, characterized in that the integration is carried out by generating signal differences of the same navigation parameters from the inertial navigation system and multi-antenna satellite receiver and subsequent time smoothing of the obtained differences with a constant time equal to or greater than the error correction interval of the satellite receiver, and the adjustment of the initial data of the inertial navigation system is carried out by summing the smoothed signals of the differences of the navigation parameters with the corresponding signals of the integrated navigation system.