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Accelerometer calibration method based on GPS velocity information

A technology of accelerometer and calibration method, applied in the direction of velocity/acceleration/shock measurement, testing/calibration of velocity/acceleration/shock measuring equipment, measuring device, etc., can solve the problems of zero bias error change and so on

Inactive Publication Date: 2012-09-12
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the zero bias error of the accelerometer changes when the system is running, and propose a method for dynamic calibration of the accelerometer based on GPS velocity information

Method used

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  • Accelerometer calibration method based on GPS velocity information
  • Accelerometer calibration method based on GPS velocity information
  • Accelerometer calibration method based on GPS velocity information

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Embodiment

[0110] Applying an accelerometer calibration method based on GPS speed information proposed by the present invention, the initial position of the vehicle is: the north direction position is 4435267.969m, the east direction position is 524224.571m, the speed is 2.82722m / s, the heading angle is 254.538°, the gyro The angular velocity is 0.25367° / s, and the forward acceleration is 0.04897m / s 2 , the running time of the vehicle is 700s.

[0111] In order to examine the effect of the dynamic calibration of the accelerometer of the present invention, the behaviors such as acceleration, deceleration, vehicle turning and vehicle U-turn are carried out during the running of the vehicle, and the correctness of the detection results is compared with the GPS position output information by the GPS / DR combined filter position solution result to verify.

[0112] Such as Figure 2a and Figure 2b , after using the present invention to calibrate the accelerometer of the DR measurement syste...

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Abstract

The invention, which belongs to the combined navigation technology field, discloses an accelerometer calibration method based on GPS velocity information. The method comprises the following steps: step 1, collecting measurement data of a GPS measurement system and a DR measurement system; step 2, determining usability of the GPS measurement data; step three, employing a least square method to estimate a scale factor and a zero offset error of an accelerometer; step four, comparing estimation values of the scale factor and the zero offset error of the accelerometer with estimation values of a preset accelerometer scale factor and a preset accelerometer zero offset error to determine whether updating is carried out; and step five, meeting a time interval requirement and then returning to the step two to carry out next calibration. According to the invention, a GPS characteristic that the GPS enables a measurement value precision to be high at a linear motion segment with good signal reception and high speed is utilized to realize dynamic calibration on an accelerometer, so that calibration parameter of the accelerometer can be updated regularly and an influence on the system precision by a zero offset change caused by different starting and temperature changes can be reduced. Moreover, the realization is simple, the calculation amount is small, and the result is reliable.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to an accelerometer calibration method based on GPS speed information, which can effectively and adaptively realize the calibration of the accelerometer scale factor and zero bias error. Background technique [0002] The DR measurement system adopts the combination of gyroscope and accelerometer, which eliminates the odometer measurement error caused by the combination of gyroscope and odometer in the conventional method, and the difference between the odometer measurement value and the actual value caused by slope road and tire deformation. The problem with the distance traveled does not match. However, the accelerometer is an important measurement element, and the measurement accuracy directly affects the accuracy of the navigation system. [0003] At present, the calibration of accelerometers in the field of domestic integrated navigation technology is ...

Claims

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Application Information

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IPC IPC(8): G01P21/00G01C25/00
Inventor 张海王嫣然周启帆邢川
Owner BEIHANG UNIV
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