Gyroscope assisted positioning method

Abstract

The invention discloses a gyroscope assisted positioning method. The method comprises the following steps: step one, measurement of attitude angle: individually subjecting a measured value of an accelerometer and a measured value of a magnetic sensor to the Gauss-Newton iteration so as to obtain an attitude error speed, obtaining an attitude quaternion speed by using a gyroscope through a quaternion differential equation, adding the attitude error speed and the attitude quaternion speed together so as to obtain an attitude quaternion; step two, obtaining an initial point: carrying out track calculation according to the data of the accelerometer and the gyroscope chip so as to improve the track period to the data period of an inert measuring unit; step three, calculating the speed and the displacement distance; step four, calculating the position point, and step five, correcting the position. The method effectively solves the problems of gyroscope drift, carrier linear acceleration and interference of the surrounding local magnets, then carries out project correction on the positioning result according to the road data, and calculates the next position point by utilizing the correction result, and thus effectively reduces the accumulated error.

Description

technical field [0001] The invention relates to an auxiliary positioning method, in particular to a shedding and auxiliary positioning method. Background technique [0002] The existing gyroscope-assisted navigation method adopts the gyroscope positioning method, which is designed based on the principle of angular velocity detection. Through a series of calculations, the obtained positioning position is a relative value relative to the previous positioning. Although the existing gyroscope-assisted navigation method has made it possible to point and locate in the air, because the obtained positioning position is only a relative value relative to the previous positioning, there is a certain deviation in the directivity. When the long-term deviation cannot be compensated , the deviation will be accumulated to a certain extent, so that the experience is getting worse and worse. In some specific occasions, it cannot fully meet the needs. In addition, the traditional gyroscope-ass...

AI Technical Summary

Problems solved by technology

Although the existing gyroscope-assisted navigation method has made it possible to point and locate in the air, because the obtained positioning position is only a relative value relative to the previous positioning, there is a certain deviation in the directivity. When the long-term deviation cannot be compensated , the deviation will be accumulated to a certain extent, so that the experience is getting worse and worse. In some specific occasions, it cannot fully meet the needs. In addition, the traditional gyroscope-assisted navigation is based on the last position point for navigation. In the process, the cumulative error will continue to increase due to the increase of time.

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