Online estimation method for clock drift of inertial satellite integrated navigation computer

The invention belongs to the technical field of inertial navigation and relates to an online estimation method for the clock drift of an inertial satellite integrated navigation computer. The method comprises the following steps: (1) establishing a system time error drift model; (2) triggering a high-resolution hardware counter by virtue of a satellite PPS pulse signal, so as to acquire the systemtime error amount; and (3) estimating the system time error and the clock drift by virtue of Kalman filtering. The invention provides the real-time and high-precision online estimation method for theclock drift of the inertial satellite integrated navigation computer. 本发明属于惯性导航技术领域，涉及种惯性卫星组合导航计算机时钟漂移在线估计方法。所述的方法包括如下步骤:步骤1、建立系统时间误差漂移模型；步骤2、通过卫星PPS脉冲信号触发高分辨率硬件计数器，获得系统时间误差量测量；步骤3、通过卡尔曼滤波估计系统时间误差及时钟漂移。提供了种实时、高精度的惯性卫星组合导航计算机时钟漂移在线估计方法。