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Integrated Navigation System

A technology of integrated navigation system and positioning system, applied in the field of integrated navigation system, can solve the problem of MEMS-SINS losing use value and other problems

Active Publication Date: 2016-03-30
XIAN ZHONGKE PHOTOELECTRIC PRECISION ENG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the measured values ​​measured by MEMS-SINS contain various errors, and these errors will gradually accumulate in the positioning results through integral operations. If the positioning results are not corrected and reset in time, the positioning errors will gradually accumulate over time , so that MEMS-SINS will eventually lose its use value

Method used

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Experimental program
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no. 1 Embodiment approach

[0034] Below, compare figure 1 as well as figure 2 The first embodiment of the present invention will be described in detail.

[0035] First, compare figure 1 The configuration of this embodiment will be described. figure 1 It is a block diagram showing the first embodiment of the present invention.

[0036] exist figure 1 Among them, the indoor integrated navigation system S is composed of MEMS-SINS1, wMPS2, comparator 3, Kalman filter 4 and so on.

[0037] Among them, the MEMS-SINS1 is provided with a MEMS gyroscope (not shown), a MEMS accelerometer, etc. (not shown), and is installed on a carrier (for example, an indoor robot) that needs positioning and navigation. MEMS-SINS1 calculates the motion information (angular rate, acceleration, etc.) Comparator 3 output described later.

[0038] The wMPS 2 includes an optical signal receiver 21, a carrier position module 22, a carrier speed calculation module 23, and the like.

[0039] The optical signal receiver 21 is in...

no. 2 Embodiment approach

[0052] Below, compare image 3 , Figure 4 A second embodiment of the present invention will be described.

[0053] First, compare image 3 The configuration of this embodiment will be described. image 3 It is a block diagram showing the second embodiment of the present invention. exist image 3 in, right with figure 1 The same symbols are assigned to the same constituent elements, and descriptions thereof are omitted.

[0054] image 3 (Indoor Integrated Navigation System S1) and figure 1 (Indoor Integrated Navigation System S) The difference is that in image 3 It also includes wMPS2X, image memory measurement system 5, gate control part 6, and gate switch 7.

[0055] The difference between wMPS2X and wMPS2 is that it adds a signal strength detector (not shown), which is used to detect the signal strength of the infrared laser signal from the signal transmitter, and input the detected signal strength to the rear The gate control unit 6 described above. Here, it s...

no. 3 Embodiment approach

[0070] Below, compare Figure 5 , Image 6 A third embodiment of the present invention will be described.

[0071]First, the configuration of this embodiment will be described. Figure 5 A block diagram showing a third embodiment of the present invention. exist Figure 5 , for the second embodiment image 3 The same symbols are assigned to the same constituent elements, and descriptions thereof are omitted.

[0072] Figure 5 (Indoor Integrated Navigation System S2) with image 3 (Indoor integrated navigation system S1) The difference is that in Figure 5 Also included is the Image Memory Measurement System 5X.

[0073] The difference between the image memory measurement system 5X and the image memory measurement system 5 is that it adds an illuminance value acquisition unit (not shown), which is used to acquire the illuminance value when the CCD camera shoots, and input the illuminance value to the gate control unit 6 described later.

[0074] The gate control unit ...

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Abstract

The invention provides an indoor combined navigation system comprising an indoor space measurement and positioning system, an image memory measurement system, and a strapdown inertial navigation system. In the indoor combined navigation system, the attitude information outputted by the strapdown inertial navigation system (MEMS-SINS) can be corrected according to high-precision position information outputted by the space measurement and positioning system (wMPS) or the image memory measurement system. The combined navigation system provided by the invention can be widely used for positioning and attitude output of moving objects such as robots and vehicles.

Description

technical field [0001] The present invention relates to a MEMS-SINS (micro-electromechanical-strapdown inertial navigation system) measurement value through wMPS (WorkspaceMeasuringPositionSystem: Indoor Space Measurement and Positioning System) or a visual positioning system mounted on a carrier (for example, a robot). ) to correct the integrated navigation system. Background technique [0002] At present, inertial navigation is basically divided into two categories: platform type (Gimbaled) and strapdown type (Strapdown). In strapdown inertial navigation, the inertial sensor is directly fixed on the carrier and rotates with the carrier in space. The whole system uses a computer-centered mathematical platform to replace the conventional physical platform in platform inertial navigation. The above inertial sensors are divided into two categories, one is the distance sensor, which is a type of sensor that can be used to measure acceleration, velocity or displacement, such as...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/00G01C21/165G01C25/005
Inventor 林俤吴易明赵晓进梁选森姚震王永旺
Owner XIAN ZHONGKE PHOTOELECTRIC PRECISION ENG CO LTD