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Vehicle-mounted autonomous navigation method based on rotary modulation and virtual odometer

A technology of rotation modulation and navigation method, applied in the field of vehicle navigation, can solve the problems of high cost, low cost, large volume of rotating mechanism and control mechanism, etc., and achieve the effect of eliminating influence and improving navigation accuracy.

Inactive Publication Date: 2016-07-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] In order to solve the technical problems raised by the above-mentioned background technology, the present invention aims to provide a vehicle-mounted autonomous navigation method based on rotation modulation and virtual odometer, which solves the problems caused by the large volume and cost of the rotation mechanism and control mechanism when the traditional MEMS inertial navigation performs rotation modulation. High and weaken the MEMS inertial navigation advantages of small size and low cost

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  • Vehicle-mounted autonomous navigation method based on rotary modulation and virtual odometer
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  • Vehicle-mounted autonomous navigation method based on rotary modulation and virtual odometer

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Embodiment Construction

[0036] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0037] step 1:

[0038] A group of accelerometers are installed on the vehicle body to measure the acceleration of the vehicle in three directions. The sensitive axes of the three accelerometers are respectively along the horizontal axis of the carrier to the right, forward along the longitudinal axis of the carrier, and upward along the vertical axis of the carrier, namely "Right Front Top" coordinate system.

[0039] A MEMSIMU is installed near the wheel rotation axis, including three gyroscopes and three accelerometers. The x-axis of the IMU is parallel to the wheel rotation axis, and the y and z-axes are in the wheel plane, perpendicular to the X-axis respectively, in a right-handed coordinate system.

[0040] Step 2:

[0041] The wheel is used as the rotating mechanism of the MEMS rotary inertial navigation system, considering the in...

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Abstract

The invention discloses a vehicle-mounted autonomous navigation method based on rotation modulation and a virtual odometer. The MEMS IMU is installed near the rotation axis of the wheel, that is, the wheel is used as the rotation mechanism of the MEMS rotary inertial navigation to realize rotation modulation, and the rotation of the wheel is used to periodically change the inertia. The position of the device relative to the navigation system can offset the influence of the constant value error of the inertial device on the navigation accuracy, and calculate the driving distance and speed of the vehicle through the rotation angle of the wheel, realize the virtual odometer, and assist the navigation of the MEMS rotary inertial navigation system.

Description

technical field [0001] The invention belongs to the technical field of vehicle navigation, and in particular relates to a vehicle autonomous navigation method based on rotation modulation and a virtual odometer. Background technique [0002] The inertial navigation system is an autonomous navigation system that does not depend on external information. It measures the angular velocity and acceleration of the carrier relative to space through an orthogonally installed three-axis gyroscope and accelerometer, and derives the real-time information of the carrier based on the principle of dead reckoning. state of motion. However, the inertial navigation system is relatively expensive, so it is generally used in the navigation and positioning of military equipment such as aircraft, missiles and land combat vehicles. In recent years, with the advancement of science and technology, a low-cost MEMS inertial navigation system has appeared. Its small size and low price have created opp...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 秦雅赖际舟吴奇吕品
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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