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Closed-loop Kalman filter inertial positioning method based on zero-speed correction

A Kalman filter and Kalman filter technology, which is used in navigation, navigation, instruments and other directions through velocity/acceleration measurement, which can solve the problem of inability to realize error estimation, and achieve the effect of high coincidence and high positioning accuracy.

Inactive Publication Date: 2020-01-17
LIAONING TECHNICAL UNIVERSITY
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Problems solved by technology

The inertial navigation system using a single working mode has no external information to provide reference for it, which makes it impossible to use Kalman to achieve error estimation. In view of the above problems, the patent of the present invention proposes a method that uses the speed information in the static state of the carrier as the real speed reference. , to complete the Kalman filter combined solution to achieve high-precision inertial positioning

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  • Closed-loop Kalman filter inertial positioning method based on zero-speed correction
  • Closed-loop Kalman filter inertial positioning method based on zero-speed correction
  • Closed-loop Kalman filter inertial positioning method based on zero-speed correction

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Embodiment Construction

[0058] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0059] (1) Utilize the global positioning system GPS to determine the initial position parameters of the carrier, and bind them into the navigation computer;

[0060] (2) The system prepares for warm-up, collects the data output by the gyroscope and the accelerometer and processes the data;

[0061] (3) Initial alignment of the inertial navigation system;

[0062] According to the output of the accelerometer, the horizontal alignment can be completed, and the initial pitch angle and roll angle can be calculated from the output of the accelerometer. The calculation formula is as follows:

[0063]

[0064] In the formula: g 0 is the gravitational acceleration on the ground surface, f x , f z respectively represent the specific force information output by the accelerometer in the x and y directions, θ and γ respectively represent the estimated re...

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Abstract

The invention provides a closed-loop Kalman inertial positioning method based on zero-speed correction. The initial position parameters of the carrier are determined by GPS, and are bound to the navigation computer; the inertial navigation system is warmed up, and the data output by the gyroscope and the accelerometer are collected and processed; the level of the carrier is determined by using the gravity component sensitive to the horizontal accelerometer Attitude angle; at each discrete moment output by the inertial navigation system, the carrier motion state is determined according to the acceleration mean and variance; when the carrier is in a static state, the closed-loop Kalman filter is used to correct the inertial navigation system solution error; The position update algorithm completes the high-precision positioning of the carrier.

Description

[0001] (1) Technical field [0002] The invention relates to a measurement method, in particular to a closed-loop Kalman filter inertial positioning method based on zero-speed correction. [0003] (2) Background technology [0004] The inertial navigation system uses inertial components to measure the acceleration of the vehicle itself, and obtains the speed and position through integration and calculation, so as to achieve the purpose of navigation and positioning of the vehicle. The equipment that makes up the inertial navigation system is installed in the carrier. It does not rely on external information, does not radiate energy to the outside world, and is not easily disturbed. It is an autonomous navigation system. [0005] However, the unavoidable problem is that the inertial components in the inertial navigation system are composed of gyroscopes and accelerometers, and the gyroscopes and accelerometers have their own inevitable error factors, which leads to the speed and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20G01C25/005
Inventor 孙伟
Owner LIAONING TECHNICAL UNIVERSITY
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