Method for determining pulse equivalent of speedometer in on-board integrated navigation

Abstract

The invention discloses a method for determining pulse equivalent of a speedometer in on-board integrated navigation, which comprises the following steps: step 1) judging whether a vehicle drives straightly, otherwise, repeatedly executing the step 1); step 2) selecting effective GPS positioning points; step 3) orderly selecting point i-2, point i-1 and point i from the effective GPS positioning points, calculating the distance D(i-1) between the point i-2 and the point i-1 and the distance D(i) between the point i-1 and the point I, then being divided by pulse count respectively to obtain temporary pulse equivalent values, namely PO(i-1) and PO(i), and then being divided by a pulse equivalent value calibrated by the speedometer respectively to obtain quotients, namely alpha(i-1) and alpha(i); step (4) adding the distance of two lines obtained by orderly connecting the point i-2, the point i-1 and the point I and corresponding pulse count to a distance accumulative value and a pulse accumulative value respectively if the alpha(i-1) and the alpha(i) are more than 0.95 and a value obtained by PO(i-1) divided by PO(i) is more than 0.99 and less than 1.01, otherwise, making i equal toi+1, and executing the step 3); and step 5) a pulse equivalent value can be obtained by the distance accumulative value divided by the pulse accumulative value if the distance accumulative value is more than 1 km, otherwise, making i equal to i+1, and executing the step 3). The technical proposal of the method for determining the pulse equivalent of the speedometer in on-board integrated navigation can ensure that the pulse equivalent obtained by the calculation is more accurate.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a method for determining the pulse equivalent of an odometer in a vehicle-mounted integrated navigation. Background technique [0002] In order to collect geographic location data or provide real-time navigation for vehicles, we usually install GPS positioning equipment on vehicles and use dynamic positioning methods to obtain the geographic location of vehicles in real time. However, in the urban traffic environment, due to obstacles such as tall buildings, viaducts, and tunnels, the GPS satellite signals required for normal positioning often cannot be received, resulting in GPS receivers being unable to locate or having too large a positioning error. In response to this situation, the GPS receiver is usually integrated with sensors such as gyroscopes and odometers, and the positioning is performed through an integrated navigation mode. This navigation system is the GPS / DR in...

AI Technical Summary

Problems solved by technology

[0007] 1. Due to the inherent error of the GPS positioning system, in the case of good reception, the error of the GPS positioning point may also be greater than 5 meters, and the distance error between two adjacent points may reach 10 meters, resulting in the error of the accumulated distance value. Larger, resulting in a larger error in the pulse equivalent

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