Positioning information fusion method for dual marine aided inertial navigation system in polar region

• Main Authors: WU WENQI, PAN XIANFEI, WANG LIN, LIAN JUNXIANG, HE XIAOFENG, YU RUIHANG
• Format: Patent
• Language: Chinese; English
• Published: 05.01.2018
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a positioning information fusion method for a dual marine aided inertial navigation system in a polar region. The positioning information fusion method is used for solving theproblem that positioning accuracy is lost in case of master inertial navigation failure due to the fact that the dual marine aided inertial navigation system in the polar region is lack of informationfusion. An error equation of the dual marine aided inertial navigation system is rescheduled in a grid coordinate system in the polar region, a combined error state equation and an observation equation of the dual marine aided inertial navigation system in the polar region are established, gyro drift and accelerometer zero offset of a marine aided inertial navigation system of a monoaxial rotational modulation laser gyro are estimated, certainty positioning error of the marine aided inertial navigation system is subjected to prediction compensating according to a positioning error predictionmodel of the marine aided i