Course error inhibiting method applied to individual indoor navigation system

Abstract

The invention belongs to a course error inhibiting method and particularly relates to a course error inhibiting method applied to an individual indoor navigation system. The method comprises the steps of step one, arranging correcting points, namely arranging positions (1,1), (3,1) (6,1) (1,4) and (5,5) as correcting points, and acquiring the position information of the correcting points and marking as (cinsk, zinsk), wherein k represents different points, and ins is a mathematical sign, step two, calculating the course error, and step three, correcting an attitude matrix. The course error inhibiting method has the effects that error correcting points are reasonably distributed in a system application space, the course error of the navigation system, divergent along with time, is corrected by utilizing the accurate position information of the correcting points, the problem of rapid diverging of the course error can be solved to a certain degree, the system positioning precision is improved, and the navigation performance in long-term operation of the system can be ensured.

Description

technical field [0001] The invention belongs to an error suppression method, in particular to a heading error suppression method applied to a personal indoor navigation system. Background technique [0002] Due to the unique advantages of satellite navigation, such as high precision, low power consumption, and easy portability, it is widely used in daily life. However, in confined spaces such as indoors, underground, and workshops, the satellite user machine cannot Positioning does not meet the user's navigation needs. Personal indoor navigation system has been paid more and more attention due to its unique advantages of not relying on satellite navigation and being completely autonomous. [0003] However, with the continuous deepening of personal indoor navigation technology research, the problem of rapid divergence of system heading errors is gradually exposed. The design of personal indoor navigation system requires the system to be small enough. According to the develop...

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Problems solved by technology

[0003] However, with the continuous deepening of personal indoor navigation technology research, the problem of rapid divergence of system heading errors is gradually exposed. The design of personal indoor navigation system requires the system to be small enough. According to the development status of inertial devices at this stage, the micro inertial measurement unit has become the only However, the device accuracy of the micro-inertial measurement unit is generally poor, especially the gyroscope's zero-bias repeatability and zero-bias stability are poor, and its comprehensive accuracy is generally tens or even hundreds of degrees per hour. It is difficult to guarantee the heading accuracy of the system during the process, so it is necessary to effectively correct the heading error. At present, the correction method of the heading error generally adopts the method of magnetometer-assisted correction, but the magnetometer information is easily affected by environmental interference, and the heading indication value fluctuates greatly. Even in the case of no disturbance, its heading measurement accuracy cannot meet the technical requirements of personal indoor navigation systems. This problem seriously affects the positioning and navigation accuracy of the system for long-term work, and restricts the popularization and application of this type of product.

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