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An Inertial Navigation/Odometer Autonomous Integrated Navigation Method

An integrated navigation and odometer technology, applied in the field of navigation, can solve the problems of large noise in odometer quantification and reducing the accuracy of integrated navigation.

Active Publication Date: 2016-02-03
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: in the existing inertial navigation / odometer integrated navigation method, the odometer quantization noise is too large, which reduces the integrated navigation accuracy

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  • An Inertial Navigation/Odometer Autonomous Integrated Navigation Method
  • An Inertial Navigation/Odometer Autonomous Integrated Navigation Method
  • An Inertial Navigation/Odometer Autonomous Integrated Navigation Method

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Embodiment Construction

[0078] The following describes the inertial navigation / odometer autonomous integrated navigation method of the present invention in detail with reference to the accompanying drawings and embodiments.

[0079] The coordinate system adopted by the inertial navigation / odometer autonomous integrated navigation method of the present invention is defined as follows:

[0080] n: Navigation coordinate system (oxyz), North Tiandong geographic coordinate system, the x-axis refers to north, the y-axis refers to the sky, and the z-axis refers to the east;

[0081] n′: Calculate the navigation coordinate system (o′x′y′z′), the x′ axis refers to the north, the y′ axis refers to the sky, and the z′ axis refers to the east;

[0082] b: Inertial navigation system (o"x"y"z"), coincides with the gyro coordinate system, the front upper right coordinate system, the x" axis points forward, the y" axis points upward, and the z" axis points right;

[0083] m: Odometer coordinate system (o"'x"'y"'z"'), front up...

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Abstract

The invention belongs to the technical field of navigation, and concretely relates to an inertial navigation / mileometer autonomous integrated navigation method. The method comprises the following steps: 1, initially aligning an inertial navigation system, and initializing parameters of a Kalman filter; 2, carrying out inertial navigation calculation to obtain a discrete state transfer matrix and a measurement matrix; 3, calculating based on the summation measurement of displacement errors to obtain a filtering observation; 4, carrying out mileometer information fault detection; 5, carrying out Kalman filtering; and 6, correcting. The method solves technical problems of too large mileometer quantification noise and reduced combination navigation precision of present inertial navigation / mileometer integrated navigation methods; and the method which adopts a displacement integration coupling based inertial navigation / mileometer integrated navigation strategy abandons a quantization noise introduced in the traditional methods utilizing a speed, which is obtained by performing calculation on a displacement, as an observation, and substantially improves the reliability of an integrated navigation system.

Description

Technical field [0001] The invention belongs to the technical field of navigation, and specifically relates to an inertial navigation / odometer autonomous integrated navigation method. Background technique [0002] In the field of land positioning and orientation applications, there is an urgent need for high-precision vehicle positioning and orientation systems at home and abroad. Among them, the integrated navigation of the inertial navigation system, GNSS and odometer is the method commonly used in land positioning and orientation systems. However, due to the susceptibility of GNSS information to interference, the current main working mode of typical land positioning and orientation system products at home and abroad is inertial navigation / odometer integrated navigation, compatible with zero-speed correction technology, and obtain high positioning and orientation accuracy. Have complete autonomy. [0003] At present, inertial navigation / odometer integrated navigation generally ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C22/00
Inventor 吴亮华郑辛李群蔡善军石志兴马二杰朱红
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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