A Method of Improving the Accuracy of Vehicle-mounted Sins/od Integrated Navigation

A combined navigation and precision technology, applied in the field of vehicle navigation, can solve problems such as the influence and complexity caused by not considering the navigation precision

Inactive Publication Date: 2016-06-29
贾继超 +2
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  • Abstract
  • Description
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Problems solved by technology

[0005] The technology of the present invention solves the problem: the existing SINS / OD combined navigation scheme does not consider the influence that the relative angular movement of the vehicle body and the chassis has on the navigation accuracy, and at the same time it is considered that the scale coefficient model of the odometer is too complicated to set up the scale coefficient of the odometer. Simplified to a constant value or a constant value plus a random error term, the present invention realizes high-precision vehicle-mounted SINS / OD integrated navigation by establishing a corresponding mathematical model

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[0036] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0037] When the vehicle is running on different slope roads and at different accelerations, the angle change between the vehicle chassis and the car body and the change of the tire radius are shown in Figure 1-3 , figure 1 is a vehicle running at a constant speed on a level road. At this time, the distance between the horizontal axis (x-axis) and the vertical axis (y-axis) of the car body coordinate system and the horizontal axis (x-axis) and vertical axis (y-axis) of the chassis The included angle is a constant value.

[0038] When the vehicle is running on a vertically sloped road or at a certain acceleration (see figure 2 ), the rear wheel radius compression is f y =a y +gθ,a y is the vehicle acceleration, θ is the longitudinal slope of the road surface, is the forward specific force f y The influence coefficient on the radius of the rear wheel...

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Abstract

The present invention discloses a method for increasing vehicle-mounted strapdown inertial navigation system / odometer (SINS / OD) combination navigation precision. The method comprises: according to road gradient and vehicle acceleration, calculating odometer scale coefficient change and relative angle movement between a vehicle chassis and a vehicle body, and compensating odometer output to calculate a precise vehicle driving speed; adopting difference between the speed information calculated by the SINS and the speed information calculated by the OD to construct measurement; adopting Kalman filtering to estimate a model parameter and a navigation error parameter; and adopting the obtained state variable to correct SINS data and OD data to obtain an accurate navigation parameter, wherein it is considered that observability of the position error is poor during position correcting, such that the state estimation value is not directly used to correct the position, and the corrected speed is adopted to calculate the position. According to the present invention, the influence of the road gradient and the vehicle acceleration on the vehicle-mounted SINS / OD combination navigation precision is considered, and the corresponding mathematical model is established so as to achieve the vehicle-mounted SINS / OD high precision combination navigation.

Description

technical field [0001] The invention relates to ground vehicle positioning and orientation technology, in particular to a key technology for improving the precision of vehicle-mounted SINS / OD combined navigation, and belongs to the technical field of vehicle-mounted navigation. Background technique [0002] Strapdown Inertial Navigation (SINS) is an autonomous navigation device that can output parameters such as the vehicle's position, speed, attitude, and heading. However, the navigation error of SINS increases with time, and its navigation accuracy mainly depends on the accuracy of gyroscopes and accelerometers, but high-precision components will increase the cost of the entire system sharply. Therefore, controlling the accumulation of SINS errors has become a key issue in inertial navigation operations . The use of zero-speed correction can effectively improve the system performance, but it puts forward strict restrictions on the use and manipulation of the navigation sy...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/16
Inventor 贾继超张波吴训忠
Owner 贾继超
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