Method and device for calibrating odometer based on strapdown inertial navigation/satellite integrated navigation system

A technology of integrated navigation system and inertial navigation system, applied in the field of strapdown inertial navigation

Active Publication Date: 2017-04-26
THE PLA INFORMATION ENG UNIV
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Problems solved by technology

The disadvantage of this method is that the odometer error parameter estimation effect is affected by the maneuvering of the carrier, and it takes a...

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  • Method and device for calibrating odometer based on strapdown inertial navigation/satellite integrated navigation system
  • Method and device for calibrating odometer based on strapdown inertial navigation/satellite integrated navigation system
  • Method and device for calibrating odometer based on strapdown inertial navigation/satellite integrated navigation system

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Embodiment Construction

[0076] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0077] Embodiment of the odometer calibration method based on the strapdown inertial navigation / satellite integrated navigation system of the present invention

[0078] Since the attitude error still needs a certain amount of time to converge after the initial alignment, if the results of the first integrated navigation of the strapdown inertial navigation / satellite are used for calibration, the reference speed under the carrier system must be calculated with the speed and attitude of the first integrated navigation. There is a certain error, which will cause the calibration result to be inaccurate. For this reason, the invention adopts the result of the secondary combined navigation for calibration. The present invention uses the results of the first integrated navigation of the strapdown inertial navigation / satellite to back-calculate the...

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Abstract

The invention relates to a method and device for calibrating an odometer based on a strapdown inertial navigation/satellite integrated navigation system and belongs to the technical field of strapdown inertial navigation. The method utilizes the result of the first integrated navigation of the strapdown inertial navigation/satellite to calculate reversely the initial posture, carries on the second integrated navigation using the stored original data, provides a calibrated reference value through the result of the second integrated navigation, produces a real carrier system reference speed, and carries out calibration through the real speed. The strapdown inertial navigation/satellite integrated navigation system produces the calibration reference speed so that the accurate and reliable calibration result can be obtained.

Description

technical field [0001] The invention relates to an odometer calibration method and device based on a strapdown inertial navigation / satellite integrated navigation system, belonging to the technical field of strapdown inertial navigation. Background technique [0002] The odometer is a measuring device for measuring the speed and distance of a vehicle. It has the advantages of being autonomous and that the measurement error does not diverge over time. A single odometer does not have the function of navigation and positioning, but it can be combined with an inertial navigation system to achieve high-precision and autonomous navigation in the form of dead reckoning or integrated navigation. In the actual use of the integrated navigation system, the strapdown inertial navigation and the odometer are respectively installed in different positions of the carrier, and the installation angle of the odometer needs to be calibrated. In addition, the wheel circumference is affected by ...

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Application Information

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IPC IPC(8): G01C25/00
Inventor 李万里陈明剑李广云李俊毅左宗
Owner THE PLA INFORMATION ENG UNIV
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