Research on improvement of CNS+GNSS+INS ship-borne high precision real-time positioning and attitude determination algorithms

doi:10.13474/j.cnki.11-2246.2019.0144

Abstract

Abstract:

The celestial navigation system(CNS), global navigation satellite system (GNSS) and inertial navigation system (INS) can provide high precision positioning and attitude results. In practical engineering, because of the accumulation of INS long-time errors and the time delay that can not be neglected in the transmission of system hardware, INS provides CNS with a large prediction coarse attitude error, which makes it difficult to guarantee fast satellite search under bad sea conditions, resulting in the decline of the reliability of astronomical navigation and the low accuracy of attitude measurement. In this paper, a real-time positioning and attitude determination framework based on CNS+GNSS+INS high-precision information fusion is proposed. Extrapolating equal angular rate is introduced to solve the problem of inertial navigation information delay effectively. The experimental results show that the proposed algorithm is simple in structure and reliable in performance. It significantly improves the fast and accurate star-searching ability of star sensors in harsh environments, and ensures the accuracy and availability of the CNS+GNSS+INS integrated system's attitude measurement.

Key words: CNS+GNSS+INS integrated navigation, Kalman filter, time delay

CLC Number:

P228

CHENG Feng, LI Haixia, CHANG Le, WANG Li, NIU Xiaoji. Research on improvement of CNS+GNSS+INS ship-borne high precision real-time positioning and attitude determination algorithms[J]. 测绘通报, 2019, 0(5): 30-34.

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