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Low-cost unmanned vehicle navigation method

A navigation method and unmanned vehicle technology, applied in the field of integrated navigation system, can solve the problem of not considering GPS signal failure, etc., and achieve the effects of low cost, low cost, and guaranteed accuracy

Inactive Publication Date: 2012-10-31
HARBIN ENG UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] "Two Kalman Filter Structures of GPS / INS Integrated Vehicle Navigation System" mainly studies the comparison of two filter structures, the decentralized filter structure and the joint filter structure in the GPS / INS integrated vehicle navigation system, without considering the problem of GPS signal failure

Method used

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  • Low-cost unmanned vehicle navigation method

Examples

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Embodiment Construction

[0030] The following examples describe the present invention in more detail:

[0031] Step 1. Fixedly install the GPS and the micro-inertial strapdown measurement system on the unmanned vehicle, and use the data transmission cable to connect the GPS and the micro-inertial strapdown measurement system;

[0032] Step 2, GPS output location information, and this location information is manually bound to the navigation computer of micro-inertial strapdown measurement system as initial location information, and described initial location information includes initial longitude, latitude;

[0033] Step 3, the micro-inertial strapdown measurement system is preheated and initially aligned;

[0034] Step 4, the micro-inertial strapdown measurement system enters the navigation working state, and uses the accelerometer to output f b and gyro output Real-time measurement of the strapdown attitude matrix T, real-time measurement of the speed along the east, north and sky directions of th...

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Abstract

The invention provides a low-cost unmanned vehicle navigation method. A GPS (Global Position System) and a micro-strapdown inertia navigation system are arranged on an unmanned vehicle to form an unmanned vehicle navigation system; when a GPS signal is available, positional information output by the GPS is taken as position output of the unmanned vehicle navigation system, the position information output by the GPS is taken as external auxiliary information, a speed error of the micro-strapdown inertia navigation system is estimated, an estimated value is used for correcting speed output of the micro-strapdown inertia navigation system and the corrected speed output is taken as the speed output of the unmanned vehicle navigation system; and when the GPS signal is unavailable, a self speedcorrection technology is utilized to provide the external auxiliary information, the speed error and the position error of the micro-strapdown inertia navigation system are estimated, and the estimated value is used for correcting the speed output and position output of the micro-strapdown inertia navigation system and the corrected speed output and position output are taken as the speed output and position output of the unmanned vehicle navigation system. The unmanned vehicle navigation positioning method provided by the invention can guarantee high accuracy, continuity and reliability and low cost of unmanned vehicle navigation positioning.

Description

technical field [0001] The invention relates to a navigation method. Specifically, it is an integrated navigation system for unmanned vehicles composed of a micro-inertial strapdown measurement system (MSINS) and a GPS that only outputs position information. Background technique [0002] MSINS uses micro-mechanical gyroscopes and accelerometers as its inertial measurement units. Therefore, it has the advantages of low cost, small size, high reliability, vibration resistance, and shock resistance. However, due to the zero error of the micro-mechanical gyro Compared with other types of gyroscopes, the zero position error is larger, so it is not suitable to be used alone, and it needs to be assisted by an external sensor. Due to the navigation requirements of unmanned vehicles - only need to provide position, speed information, and require low cost, so the GPS / MSINS integrated navigation system is used for navigation and positioning of unmanned vehicles, in which GPS only need...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G01C21/18G01S19/42
Inventor 孙枫李倩奔粤阳高伟于飞
Owner HARBIN ENG UNIV