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Milemeter calibration method based on synchronous measurement and location calculation

A positioning calculation and synchronous measurement technology, applied in the direction of measuring devices, instruments, etc., can solve problems such as calibrating the installation angle of the heading

Inactive Publication Date: 2014-12-03
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

[0004] 1. Purpose: The purpose of the present invention is to provide a odometer calibration method based on synchronous measurement and positioning calculation. degree factor problem

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  • Milemeter calibration method based on synchronous measurement and location calculation
  • Milemeter calibration method based on synchronous measurement and location calculation
  • Milemeter calibration method based on synchronous measurement and location calculation

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Embodiment Construction

[0049] See figure 1 — image 3 , a kind of odometer calibration method based on synchronous measurement and positioning calculation of the present invention, the concrete steps of this method are as follows:

[0050] Step 1. Install the inertial group, laser speedometer and odometer on the carrier, and power on the system to start.

[0051] Step 2, binding the initial parameters (including the initial longitude, latitude, height, scale of the laser speedometer, installation angle of the laser speedometer, initial value of the odometer scale) to the navigation computer.

[0052] Step 3. Collect the output data of the gyroscope and accelerometer, process the collected gyroscope and accelerometer data, and use the second-order leveling and orientation estimation method to complete the system according to the error propagation characteristics of the strapdown inertial navigation system and the classical control theory. Coarse alignment, initially determine the attitude angle of ...

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Abstract

The invention discloses a milemeter calibration method based on synchronous measurement and location calculation. The milemeter calibration method comprises the following seven steps: step one, mounting a strapdown inertial measurement unit, a laser velocimeter and a milemeter on a carrier and powering on a system; step two, binding initial parameters to a navigation computer; step three, acquiring and processing output data of a gyroscope and an accelerometer, and carrying out coarse alignment and fine alignment of the system; step four, switching the navigation system from an aligning mode to a dead reckoning mode, and simultaneously, carrying out dead reckoning of an inertial navigation / laser velocimeter and carrying out dead reckoning of an inertial navigation / milemeter respectively; step five, respectively acquiring latitude and longitude values output by dead reckoning of the inertial navigation / laser velocimeter and latitude and longitude values output by dead reckoning of the inertial navigation / milemeter; step six, converting the acquired latitude and longitude values to coordinate values of a Gauss coordinate system; and step seven, comparing a position value obtained by dead reckoning of the inertial navigation / milemeter with a position value obtained by dead reckoning of the inertial navigation / laser velocimeter, and calibrating a course mounting angle and a scale factor of the milemeter according to a trajectory similarity principle.

Description

Technical field: [0001] The invention relates to an odometer calibration method based on synchronous measurement and positioning calculation, which belongs to the technical field of inertia. Background technique: [0002] The odometer is a sensor for measuring the speed and distance of the vehicle. It has the advantages of complete autonomy, high precision, wide speed range, good dynamic performance, and measurement error does not diverge over time. A single odometer does not have the function of navigation and positioning, but it can complement the advantages of the combination with the inertial navigation system, and can realize fully autonomous and high-precision navigation and positioning. [0003] In the actual use of the integrated navigation system, the strapdown inertial navigation system and the odometer are installed in different positions of the carrier, and the installation angle of the odometer needs to be calibrated, mainly for the calibration of the heading in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 张小跃宋凝芳易晓静牛燕雄刘鹏博时海涛
Owner BEIHANG UNIV
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