Inertia and mileometer combination high-precision attitude measurement method

A measurement method, odometer technology, applied in the field of navigation, can solve problems such as error accumulation

Inactive Publication Date: 2016-02-10
BEIJING AUTOMATION CONTROL EQUIP INST
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  • Claims
  • Application Information

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Problems solved by technology

Inertial navigation systems can provide comprehensive navigation information completely autonomously, but their errors will accumulate over time

Method used

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  • Inertia and mileometer combination high-precision attitude measurement method
  • Inertia and mileometer combination high-precision attitude measurement method
  • Inertia and mileometer combination high-precision attitude measurement method

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Embodiment Construction

[0100] The technical solution of the present invention will be further described in detail below in combination with specific embodiments.

[0101] An inertial odometer combined high-precision attitude measurement method, comprising the following steps:

[0102] (1) Determine the state variable of the Kalman filter state equation

[0103] The state equation of the Kalman filter takes 19 state variables, which are: north direction velocity error δV N , Azimuth velocity error δV U , East speed error δV E , latitude error Height error δh, longitude error δλ, north misalignment angle φ N , celestial misalignment angle φ U , East misalignment angle φ E , X gyro driftε x , Y gyro driftε y , Z gyro drift ε z , X plus table zero offset Y plus table zero offset Z plus table zero offset dead reckoning latitude error Dead reckoning altitude error δh D , dead reckoning longitude error δλ D , Odometer scale coefficient error δK D ;

[0104] (2) Determine the error equ...

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Abstract

The invention belongs to the technical field of navigation methods, and concretely relates to an inertia and mileometer combination high-precision attitude measurement method. The method can be applied in fields of vehicle long-endurance combination navigation and complex landform plotting. A technical scheme adopted in the invention is characterized in that combination Kalman filtering calculation is carried out with a dead reckoning result as a reference, and a horizontal misalignment angle and a horizontal gyro drift are estimated and corrected. A Kalman filtering state equation adopts 19 state variables, a system error model is established, the horizontal misalignment angle and the horizontal gyro drift are established in a real-time and online manner by using the dead reckoning result, and are fed back and corrected to improve the attitude precision, so the system combination navigation precision is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of navigation methods, and in particular relates to an inertial / odometer combined high-precision attitude measurement method, which can be applied to the fields of vehicle-mounted long-endurance combined navigation, complex terrain surveying and mapping, and the like. Background technique [0002] For vehicle navigation applications that require high autonomy, reliability, and precision, multi-sensor integrated navigation systems are often used, especially in military applications, integrated navigation is the preferred solution. Inertial navigation systems can provide comprehensive navigation information completely autonomously, but their errors will accumulate over time. As a very important part of the car navigation system, the odometer is characterized by low cost, and the error does not accumulate over time, and can measure more accurate vehicle speed or mileage, so the inertial navigation system can be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/26
Inventor 艾瀛涛郭玉胜庄广琛马小艳宋雅兰莫明岗
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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