Course updating method in vehicle navigation system

A technology of in-vehicle navigation and update method, applied in the field of in-vehicle navigation, can solve the problems of large heading and inaccurate heading output of in-vehicle navigation, and achieve the effect of fast speed and improved positioning accuracy

Inactive Publication Date: 2009-12-02
BEIHANG UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of inaccurate heading output in vehicle navigation. The heading accuracy of the Kalman filter output mainly depends on the GPS heading accuracy. If the GPS output heading noise is large, the filtered heading has improved error and is also large.

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Embodiment Construction

[0026] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0027] The present invention is a heading update method in a vehicle navigation system, such as figure 1 As shown, it is realized through the following steps:

[0028] Step 1. Set two time thresholds of gyro integration and a heading difference threshold respectively. The first time threshold tn is smaller than the second time threshold tq. The time threshold obtained according to different gyro characteristics is also different. Generally, the credible integration time of the gyro is taken, and tn=5s and tq=10s are preferable, and the heading difference threshold can be taken below 5°.

[0029] Step 2, judging the running state of the vehicle.

[0030] The vehicle heading information is obtained by Kalman filtering method for GPS information and gyroscope, accelerometer, and odometer information, and the obtained heading data is screened, and the h...

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Abstract

The invention discloses a course updating method in a vehicle navigation system, which comprises the following steps: firstly, respectively setting two time thresholds and a course difference threshold; and updating the course of a vehicle according to a relation between a difference value of course difference and GPS directly input course difference, and a relation between gyro continuous integral time and a time threshold, which are obtained according to different running states of vehicles, that whether the course spans 360 DEG, and gyro data integral of five recently continuous points. The method is simple and easy to realize, can obviously improve the positioning accuracy of the navigation system, can update course output in real time, and improves the real-time, reliability and accuracy of the navigation system.

Description

technical field [0001] The invention relates to a course updating method in a navigation system, which belongs to the technical field of vehicle navigation. Background technique [0002] In the existing vehicle navigation methods, the heading information is generally obtained by direct use of GPS information or the fusion of GPS information and inertial device information through Kalman filtering. Kalman filtering can comprehensively use GPS position, heading, gyro, odometer and other measurement information to However, according to the structure of the filter equation and the settings of various indicators such as observation noise and system noise, the measurement error of GPS heading is the most important factor affecting the result of heading estimation. Therefore, when the vehicle speed is low and the GPS When the signal is interfered, the inaccurate GPS heading will seriously pollute the Kalman filtered heading. In this case, simply using the filtered heading as the re...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/28
Inventor 张海刘倩沈晓蓉范耀祖高婷婷周艳丽张晓鸥
Owner BEIHANG UNIV
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