Multi-translation-information based VPS/IMU (Virtual Private Server/Inertial Measurement Unit) integrated navigation data spatial synchronization method

Abstract

The invention relates to a multi-translation-information based VPS/IMU (Virtual Private Server/Inertial Measurement Unit) integrated navigation data spatial synchronization method. The multi-translation-information based VPS/IMU integrated navigation data spatial synchronization method comprises the following steps: 1. setting a world coordinate system origin in a VPS system and a local geographical system origin in an IMU system and building a world coordinate system v and a local geographical coordinate system n by use of the left-handed and right-handed coordinate system rules; 2. carrying out at least four translations to an experimental body, measuring the displacements of the experimental body in the v system and the n system respectively, and building a projection equation corresponding to the translation times; 3. acquiring the equation of the transformational matrix relative to the projection of a translation vector in the v system and the n system according to the projection equation and carrying out fitting to experimental data to obtain a transformational matrix value; 4. When the transformational matrix shown as below and acquired from the transformational matrix value cannot meet the unit orthogonalization condition, carrying out unit orthogonalization treatment to the transformational matrix before coordinate transformation; 5. substituting the matrix shown as below after unit orthogonalization into the projection equation to obtain the translation vector; and acquiring a distance between the coordinate system origins from the translation vector and carrying out spatial synchronization to the VPS/IMU integrated navigation data.

Description

technical field [0001] The invention relates to a multi-navigation sensor space synchronization technology, in particular to a space synchronization method for VPS / IMU combined navigation data based on multi-translation information. Background technique [0002] With the development of technology, the integrated navigation between different navigation devices has been continuously improved, making the integrated navigation result higher accuracy and better robustness. Therefore, the combination of multiple navigation sensors has been widely used in practical applications, especially in ground robots. Navigation, spacecraft rendezvous and proximity operations and other fields. [0003] IMU is a navigation device that uses accelerometers and gyroscopes to measure the acceleration and angular velocity of the carrier, and obtains the real-time position and orientation information of the carrier through navigation calculations. It is an autonomous navigation device. When the IMU...

AI Technical Summary

Problems solved by technology

However, in practical engineering applications, the two often cannot be set to coincide, and the results obtained by directly measuring the rotation angle and translation distance between the two in the prior art are not accurate, and are very complicated, which cannot satisfy Requirements for Conversion Accuracy and Conversion Speed ​​in Spatial Synchronization of Integrated Navigation Data

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