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Inertial navigation system zero velocity update method for surveying and mapping vehicle

An inertial navigation system and zero-speed correction technology, applied in the inertial field, can solve problems such as reducing the accuracy of inertial navigation error estimation

Active Publication Date: 2014-01-15
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0004] The technical problem to be solved in the present invention is: in the prior art, the speed matching zero-speed correction method with speed error as the observed quantity is easily affected by the speed of external disturbance, which reduces the accuracy of inertial navigation error estimation

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Embodiment Construction

[0137] The zero-speed correction method of the inertial navigation system for surveying and mapping vehicles of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0138] The coordinate system adopted by the inertial navigation system zero-speed correction method of the surveying and mapping vehicle of the present invention is defined as follows:

[0139] n: Navigation coordinate system (oxyz), Beitiandong geographical coordinate system, x-axis refers to north, y-axis refers to sky, z-axis refers to east;

[0140] n': Calculate the navigation coordinate system (o'x'y'z'), the x' axis points to the north, the y' axis points to the sky, and the z' axis points to the east;

[0141] b: Inertial navigation carrier 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 up, and the z" axis points to the right.

[0142] Suc...

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Abstract

The invention belongs to the field of inertial technology, and in particular relates to an inertial navigation system zero velocity update method for a surveying and mapping vehicle. The method comprises the following steps: filtering parameter initializing; inertial navigation and filter state transition matrix discretizing; calculating speed integration observed quantity and measuring matrix; UD decomposition Kalman filtering time update calculating; sending a zero velocity update application; UD decomposition Kalman filtering measuring updating; inertial system error correcting; repeating the steps until the work of a positioning orientating system is finished. The invention aims to solve the problem that a speed matching zero velocity update method taking velocity error as observed quantity in the prior art is likely to be influenced by external interference speed, so that the inertial navigation error estimation precision is reduced. With the adoption of the inertial navigation system zero velocity update method provided by the invention, the effective filtering smoothing of the measuring speed noise is realized, the influence caused by interference velocity is reduced, the filtering calculating precision and the stability of the filtering work are enhanced, a singular problem caused by estimation of variance matrix calculation error is solved, and consequently, the precision and the reliability of the zero velocity update are improved.

Description

technical field [0001] The invention belongs to the technical field of inertia, and in particular relates to a zero-speed correction method of an inertial navigation system for a surveying and mapping vehicle. Background technique [0002] At present, the typical working mode of land-use positioning and orientation system is inertial navigation / odometer integrated navigation, which is compatible with zero-speed correction and obtains high autonomous positioning and orientation accuracy. Among them, zero-speed correction is a method commonly used in autonomous positioning and orientation systems for surveying and mapping. The error of the inertial navigation system is corrected by intermittently stopping the vehicle for a short time, so as to achieve high-precision positioning of the inertial navigation system and has complete autonomy. [0003] The main methods of zero-speed correction are curve fitting method and Kalman filter method. Because the curve fitting method ignor...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/26
CPCG01C25/00G01C21/165
Inventor 吴亮华蔡善军李群姜述明马二杰石志兴练涛
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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