CN105258699B - Inertial navigation method based on gravity real-Time Compensation - Google Patents

Abstract

The present invention provides an inertial navigation method based on gravity real-time compensation, comprising: receiving a navigation request; according to the navigation request, measuring and acquiring the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system, and obtaining the current position of the moving carrier Geographical coordinates; Obtain the projection point of the geographic coordinates of the location of the moving carrier on the geoid, and use the projected point as the point to be interpolated; select N interpolation points from the geoid according to the point to be interpolated; The gravitational acceleration corresponding to the interpolation point is interpolated to the gravitational acceleration at the to-be-interpolated point to obtain the gravitational acceleration at the to-be-interpolated point; according to the gravitational acceleration at the to-be-interpolated point, the gravitational acceleration at the position of the moving carrier is obtained, and the measured motion The acceleration of the carrier is compensated, and corresponding navigation processing is performed according to the compensated acceleration. In the present invention, the navigation accuracy of the inertial navigation system is improved.

Description

Inertial Navigation Method Based on Gravity Real-time Compensation

technical field

The invention relates to the technical field of moving carrier navigation, in particular to an inertial navigation method based on gravity real-time compensation.

Background technique

Inertial Navigation System (INS for short), also known as inertial reference system, is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. Its working environment includes not only the air, the ground, but also underwater. The basic working principle of INS is based on Newton's laws of mechanics. By measuring the acceleration of the moving carrier in the inertial reference system, integrating the acceleration with time, and transforming the integral result of the acceleration into the navigation coordinate system, the Information such as speed, yaw angle and position in the navigation coordinate system, therefore, the measurement of the acceleration of the moving carrier in the inertial reference system plays an important role in the inertial navigation system.

In the prior art, an accelerometer is used to measure the acceleration of the moving carrier, but the output of the accelerometer is a specific force, which includes both the absolute acceleration of the moving carrier relative to the inertial space and harmful acceleration. Therefore, the specific force output from the accelerometer is required The harmful acceleration is compensated in order to obtain the absolute acceleration of the moving carrier relative to the inertial space. The harmful acceleration includes the acceleration of gravity. Generally, the normal acceleration of gravity provided by the gravity model is used to compensate the output of the accelerometer for the acceleration of gravity.

However, due to the deviation between the real gravitational acceleration and the normal gravitational acceleration provided by the gravity model, the absolute acceleration of the moving carrier relative to the inertial space obtained by using the prior art is not accurate, resulting in that the moving carrier obtained according to the absolute acceleration The speed, yaw angle and position in the navigation coordinate system are not accurate, which in turn reduces the navigation accuracy of the inertial navigation system.

Contents of the invention

The invention provides an inertial navigation method based on gravity real-time compensation, which is used to solve the problem of low precision of inertial navigation in the prior art.

The present invention provides an inertial navigation method based on gravity real-time compensation, comprising:

receiving a navigation request, where the navigation request includes a moving carrier identifier;

According to the navigation request, measure and acquire the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system, and obtain the geographic coordinates of the current position of the moving carrier, wherein the geographic coordinates include latitude and longitude coordinates and the height at which the moving carrier is located;

Obtain the projection point of the geographic coordinates of the position of the moving carrier on the geoid, and use the projection point as the point to be interpolated;

Selecting N interpolation points from the geoid according to the points to be interpolated; wherein, the distances between the N interpolation points and the points to be interpolated are all less than a preset threshold;

Interpolating the acceleration of gravity at the point to be interpolated according to the acceleration of gravity corresponding to the N interpolation points, to obtain the acceleration of gravity at the point to be interpolated;

Acquire the gravitational acceleration at the location of the moving carrier according to the gravitational acceleration at the point to be interpolated; Compensate the acceleration in the system, and perform corresponding navigation processing according to the compensated acceleration;

Wherein, N is a positive integer.

The present invention provides an inertial navigation method based on real-time gravity compensation, comprising: receiving a navigation request, which includes a moving carrier identifier; according to the navigation request, measuring and acquiring the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system, and Obtain the geographic coordinates of the current location of the moving carrier, where the geographic coordinates include latitude and longitude coordinates and the height of the moving carrier; obtain the projection point of the geographic coordinates of the moving carrier's location on the geoid, and use the projected point as the location to be Interpolation points; select N interpolation points from the geoid according to the points to be interpolated; among them, the distances between the N interpolation points and the points to be interpolated are all less than the preset threshold; treat the interpolation points according to the gravitational acceleration corresponding to the N interpolation points Interpolate the acceleration of gravity at the position to obtain the acceleration of gravity at the point to be interpolated; obtain the acceleration of gravity at the position of the motion carrier according to the acceleration of gravity at the point to be interpolated; and obtain the motion carrier obtained by measurement according to the acceleration of gravity at the position of the motion carrier The acceleration of the corresponding motion carrier in the inertial reference system is compensated, and the corresponding navigation processing is performed according to the compensated acceleration. In this way, the gravitational acceleration of the location of the motion carrier can be obtained in real time according to the location of the motion carrier. And the acceleration of the motion carrier corresponding to the motion carrier identifier obtained by measurement is compensated for in the inertial reference system, and corresponding navigation processing is performed according to the compensated acceleration, thereby improving the navigation accuracy of the inertial navigation system.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the flow chart of Embodiment 1 of the inertial navigation method based on gravity real-time compensation provided by the present invention;

Fig. 2 is the flow chart of Embodiment 2 of the inertial navigation method based on gravity real-time compensation provided by the present invention;

Fig. 3 is a flow chart of Embodiment 3 of the inertial navigation method based on gravity real-time compensation provided by the present invention;

Fig. 4 is a structural schematic diagram of Embodiment 1 of an inertial navigation device based on gravity real-time compensation provided by the present invention;

Fig. 5 is a schematic structural diagram of Embodiment 2 of an inertial navigation device based on gravity real-time compensation provided by the present invention;

FIG. 6 is a schematic structural diagram of Embodiment 3 of an inertial navigation device based on real-time compensation of gravity provided by the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Fig. 1 is a flowchart of Embodiment 1 of an inertial navigation method based on gravity real-time compensation provided by the present invention. As shown in Fig. 1, the method includes:

Step 101. Receive a navigation request, which includes a moving carrier identifier.

In this embodiment, the moving carriers may include, but are not limited to, the following types: automobiles, airplanes, submarines, etc., wherein each moving carrier has a unique identifier.

Step 102, according to the navigation request, measure and obtain the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system, and obtain the geographic coordinates of the current position of the moving carrier, wherein the geographic coordinates include latitude and longitude coordinates and the height of the moving carrier .

In this embodiment, specifically, an accelerometer is used to measure the acceleration of the moving carrier in the inertial reference system, and the geographic coordinates of the current location of the moving carrier are obtained through a Global Positioning System (GPS for short).

Step 103, obtaining the projection point of the geographic coordinates of the location of the moving carrier on the geoid, and using the projection point as the point to be interpolated.

Step 104: Select N interpolation points from the geoid according to the points to be interpolated, wherein the distances between the N interpolation points and the points to be interpolated are all smaller than a preset threshold.

In this embodiment, N is a positive integer. In addition, a preset threshold is set according to the requirements of the inertial navigation system for navigation accuracy.

Step 105: Interpolate the gravitational acceleration at the to-be-interpolated point according to the gravitational acceleration corresponding to the N interpolation points, and obtain the gravitational acceleration at the to-be-interpolated point.

Step 106, according to the gravitational acceleration at the point to be interpolated, obtain the gravitational acceleration at the location of the moving carrier; and according to the gravitational acceleration at the location of the moving carrier, measure the acceleration of the moving carrier corresponding to the obtained moving carrier identification in the inertial reference system Compensation processing, and according to the acceleration after compensation, corresponding navigation processing is performed.

In this embodiment, a navigation request is received, and the navigation request includes the moving carrier identifier; according to the navigation request, the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system is measured and acquired, and the geographical location of the moving carrier at the current moment is obtained. Coordinates, wherein the geographic coordinates include latitude and longitude coordinates and the height of the motion carrier; obtain the projection point of the geographic coordinates of the motion carrier's position on the geoid, and use the projection point as the point to be interpolated; according to the point to be interpolated, from the geoid Select N interpolation points on the horizontal plane; wherein, the distances between the N interpolation points and the points to be interpolated are all less than the preset threshold; according to the gravitational accelerations corresponding to the N interpolation points, the gravitational acceleration at the interpolation point is interpolated to obtain the value to be interpolated Acceleration of gravity at the point; according to the acceleration of gravity at the point to be interpolated, obtain the acceleration of gravity at the location of the moving carrier; and according to the acceleration of gravity at the location of the moving carrier, identify the corresponding moving carrier for the obtained moving carrier in the inertial reference system Compensate the acceleration, and perform corresponding navigation processing according to the compensated acceleration. In this way, the gravitational acceleration at the location of the moving carrier can be obtained in real time according to the location of the moving carrier, and the corresponding The acceleration of the moving carrier in the inertial reference system is compensated, and corresponding navigation processing is performed according to the compensated acceleration, which improves the navigation accuracy of the inertial navigation system.

Fig. 2 is a flow chart of Embodiment 2 of the inertial navigation method based on gravity real-time compensation provided by the present invention. As shown in Fig. 2, the method includes:

Step 201. Receive a navigation request, which includes a moving carrier identifier.

Step 202: According to the navigation request, measure and obtain the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system, and obtain the geographic coordinates of the current position of the moving carrier, wherein the geographic coordinates include latitude and longitude coordinates and the altitude of the moving carrier .

Step 203, obtaining the projection point of the geographic coordinates of the location of the moving carrier on the geoid, and using the projection point as the point to be interpolated.

Step 204: Select N interpolation points from the geoid according to the points to be interpolated; wherein, the distances between the N interpolation points and the points to be interpolated are all smaller than a preset threshold.

Step 205, according to formula (1)

${\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\underset{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Calculate and obtain the weights of N interpolation points relative to the points to be interpolated.

Among them, ω _k is the weight of the kth interpolation point relative to the point to be interpolated, (x ₀ , y ₀ ) is the coordinate of the point to be interpolated in the plane coordinate system, (x _k , y _k ) is the plane coordinate of the interpolation point coordinates in the system.

Step 206, according to formula (2)

${\mathrm{<span\; class="notranslate">\; g</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Calculate and obtain the acceleration of gravity g' at the point to be interpolated.

where g _k is the gravitational acceleration at the kth interpolation point.

Step 207, according to the gravitational acceleration at the point to be interpolated, obtain the gravitational acceleration at the location of the moving carrier; and according to the gravitational acceleration at the location of the moving carrier, measure the acceleration of the moving carrier corresponding to the obtained moving carrier identification in the inertial reference system Compensation processing, and according to the acceleration after compensation, corresponding navigation processing is performed.

In this embodiment, the gravitational acceleration at the point to be interpolated is interpolated according to the gravitational acceleration corresponding to the N interpolation points and the weights of the N interpolation points relative to the point to be interpolated, and the gravitational acceleration at the point to be interpolated is obtained, thereby improving the Get the accuracy of gravity acceleration at the point to be interpolated.

Fig. 3 is a flow chart of Embodiment 4 of the inertial navigation method based on gravity real-time compensation provided by the present invention. As shown in Fig. 3, the method includes:

Step 301. Receive a navigation request, which includes a moving carrier identifier.

Step 302: According to the navigation request, measure and acquire the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system, and obtain the geographic coordinates of the current location of the moving carrier, wherein the geographic coordinates include latitude and longitude coordinates and the height of the moving carrier .

Step 303, obtaining the projection point of the geographic coordinates of the location of the moving carrier on the geoid, and using the projection point as the point to be interpolated.

Step 304: Select N interpolation points from the geoid according to the points to be interpolated; wherein, the distances between the N interpolation points and the points to be interpolated are all smaller than a preset threshold.

Step 305 : Interpolate the gravitational acceleration at the to-be-interpolated point according to the gravitational acceleration corresponding to the N interpolation points, and obtain the gravitational acceleration at the to-be-interpolated point.

Step 306, according to formula (3)

g=g'-0.3086H (3)

Calculate the gravitational acceleration g at the height of the moving carrier, and perform compensation processing on the acceleration of the moving carrier in the inertial reference system corresponding to the measured moving carrier identification according to the gravitational acceleration at the location of the moving carrier.

Among them, g' is the gravitational acceleration at the point to be interpolated, and H is the height of the moving carrier.

Step 307: Integrate the compensated acceleration with respect to time.

Step 308: Transform the integrated result of the compensated acceleration into the navigation coordinate system, so as to obtain the velocity, yaw angle and position in the navigation coordinate system.

Step 309, perform navigation processing according to information such as speed, yaw angle and position in the navigation coordinate system.

In this embodiment, the gravitational acceleration at the height of the moving carrier is calculated according to the formula g=g'-0.3086H, which improves the acquisition efficiency and accuracy of the gravitational acceleration at the height of the moving carrier. In addition, according to the gravitational acceleration at the position of the moving carrier, Compensate the acceleration of the moving carrier in the inertial reference system corresponding to the moving carrier identifier obtained by measurement, integrate the compensated acceleration with respect to time, and transform the integral result of the compensated acceleration into the navigation coordinate system to obtain The speed, yaw angle and position in the navigation coordinate system are processed according to the speed, yaw angle and position information in the navigation coordinate system, thereby improving the navigation accuracy of the inertial navigation system.

FIG. 4 is a schematic structural diagram of Embodiment 1 of an inertial navigation device based on real-time gravity compensation provided by the present invention. As shown in FIG. 4 , the device includes: a receiving module 10 , an acquiring module 11 and a navigation module 12 .

The receiving module 10 is configured to receive a navigation request, where the navigation request includes a moving carrier identifier.

The acquiring module 11 is configured to measure and acquire the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system according to the navigation request, and obtain the geographic coordinates of the current position of the moving carrier, wherein the geographic coordinates include latitude and longitude coordinates and the moving carrier the height at which it is located.

The obtaining module 11 is also used to obtain the projection point of the geographical coordinates of the position of the moving carrier on the geoid, and use the projected point as the point to be interpolated, and select N interpolation points from the geoid according to the point to be interpolated; Wherein, the distances between the N interpolation points and the points to be interpolated are all smaller than a preset threshold.

In this embodiment, N is a positive integer.

The acquisition module 11 is further configured to interpolate the gravitational acceleration at the to-be-interpolated point according to the gravitational acceleration corresponding to the N interpolation points, and acquire the gravitational acceleration at the to-be-interpolated point.

The navigation module 12 is used to obtain the gravitational acceleration at the location of the moving carrier according to the gravitational acceleration at the point to be interpolated; and according to the gravitational acceleration at the location of the moving carrier, the corresponding moving carrier is identified in the inertial reference system for the moving carrier that is measured and obtained The acceleration is compensated, and the corresponding navigation processing is performed according to the compensated acceleration.

The inertial navigation device based on real-time gravity compensation in this embodiment can execute the technical solution of the method embodiment shown in FIG. 1 , and its implementation principles and beneficial effects are similar, and will not be repeated here.

FIG. 5 is a schematic structural diagram of Embodiment 2 of an inertial navigation device based on real-time gravity compensation provided by the present invention. As shown in FIG. 5 , on the basis of the above-mentioned embodiments, the acquisition module 11 includes:

Weight acquisition unit 20, for according to formula (1)

${\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\underset{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Calculate and obtain the weights of N interpolation points relative to the points to be interpolated.

Among them, ω _k is the weight of the kth interpolation point relative to the point to be interpolated, (x ₀ , y ₀ ) is the coordinate of the point to be interpolated in the plane coordinate system, (x _k , y _k ) is the plane coordinate of the interpolation point coordinates in the system;

Acceleration of gravity acquisition unit 21, for according to formula (2)

${\mathrm{<span\; class="notranslate">\; g</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Calculate and obtain the acceleration of gravity g' at the point to be interpolated.

where g _k is the gravitational acceleration at the kth interpolation point.

The inertial navigation device based on real-time gravity compensation in this embodiment can execute the technical solution of the method embodiment shown in FIG. 2 , and its implementation principles and beneficial effects are similar, and will not be repeated here.

FIG. 6 is a schematic structural diagram of Embodiment 3 of an inertial navigation device based on gravity real-time compensation provided by the present invention. As shown in FIG. 6 , on the basis of the above-mentioned Embodiment 1, the navigation module 12 includes:

Calculation unit 30, for according to formula (3)

g=g'-0.3086H (3)

Calculate the gravitational acceleration g at the height of the moving carrier, and perform compensation processing on the acceleration of the moving carrier in the inertial reference system corresponding to the measured moving carrier identification according to the gravitational acceleration at the location of the moving carrier.

Wherein, g' is the gravitational acceleration at the point to be interpolated, and H is the height of the moving carrier.

The integration unit 31 is configured to integrate the compensated acceleration with respect to time.

The coordinate transformation unit 32 is used to transform the integrated result of the compensated acceleration into the navigation coordinate system, so as to obtain the speed, yaw angle and position in the navigation coordinate system.

The navigation processing unit 33 is configured to perform navigation processing according to information such as speed, yaw angle and position in the navigation coordinate system.

The inertial navigation device based on real-time gravity compensation in this embodiment can implement the technical solution of the method embodiment shown in FIG. 3 , and its implementation principles and beneficial effects are similar, and will not be repeated here.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (4)

1. an inertial navigation method based on gravity real-time compensation, is characterized in that, comprises: receiving a navigation request, where the navigation request includes a moving carrier identifier; According to the navigation request, measure and acquire the acceleration of the moving carrier corresponding to the moving carrier identifier in the inertial reference system, and obtain the geographic coordinates of the current position of the moving carrier, wherein the geographic coordinates include latitude and longitude coordinates and the height at which the moving carrier is located; Obtain the projection point of the geographic coordinates of the position of the moving carrier on the geoid, and use the projection point as the point to be interpolated; Selecting N interpolation points from the geoid according to the points to be interpolated, wherein the distances between the N interpolation points and the points to be interpolated are all less than a preset threshold; Interpolating the acceleration of gravity at the point to be interpolated according to the acceleration of gravity corresponding to the N interpolation points, to obtain the acceleration of gravity at the point to be interpolated; Acquire the gravitational acceleration at the location of the moving carrier according to the gravitational acceleration at the point to be interpolated; Compensate the acceleration in the system, and perform corresponding navigation processing according to the compensated acceleration; Wherein, N is a positive integer. 2. The method according to claim 1, wherein the acceleration of gravity at the point to be interpolated is interpolated according to the acceleration of gravity corresponding to the N interpolation points, and the acceleration of gravity at the point to be interpolated is obtained. Gravity acceleration, including: according to the formula Calculate and obtain the weights of the N interpolation points relative to the points to be interpolated; where, ω _k is the weight of the kth interpolation point relative to the points to be interpolated, and (x ₀ , y ₀ ) is the value to be interpolated The coordinates of the point in the plane coordinate system, (x _k , y _k ) are the coordinates of the interpolation point in the plane coordinate system; according to the formula Calculate and obtain the gravitational acceleration g' at the point to be interpolated, where g _k is the gravitational acceleration at the kth interpolation point. 3. The method according to claim 1 or 2, wherein, according to the acceleration of gravity at the point to be interpolated, obtaining the acceleration of gravity at the position of the moving carrier comprises: According to the formula g=g'-0.3086H, the gravitational acceleration g at the height of the moving carrier is calculated, wherein g' is the gravitational acceleration at the point to be interpolated, and H is the height of the moving carrier. 4. The method according to claim 1 or 2, wherein said performing corresponding navigation processing according to the compensated acceleration comprises: integrating the compensated acceleration with respect to time; Transforming the integrated result of the compensated acceleration into a navigation coordinate system to obtain the velocity and yaw angle and position in the navigation coordinate system; Carry out navigation processing according to the speed, yaw angle and position in the navigation coordinate system.