Combined navigation method for GNSS+INS+odo

A combined navigation and module technology, applied in the field of combined navigation, can solve problems such as GNSS signals are susceptible to interference, INS device prices are high, and calculations are affected by gravity fields, etc., to achieve easy vehicle-mounted industrialization development, excellent effects, and improved stability sexual effect

Inactive Publication Date: 2017-07-21
广州市泰斗鑫信息科技有限公司
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Problems solved by technology

[0004] The GNSS navigation system can provide global users with all-weather absolute positioning and speed determination information with high accuracy, but the GNSS signal is susceptible to interference and the positioning frequency is low, so multiple antennas can measure the attitude angle
The INS system does not rely on external information, does not radiate energy, has a high data update rate, can provide continuous high-frequency positioning information, and has good short-term accuracy and stability. However, the navigation information of the INS is obtained through integration, which will produce long-term The cumulative error, its solution is affected by the gravity field, and the high-precision INS device is expensive

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  • Combined navigation method for GNSS+INS+odo
  • Combined navigation method for GNSS+INS+odo

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Embodiment Construction

[0032] The solution of the present invention will be described in detail below in combination with the preferred embodiments thereof.

[0033] The present invention proposes a combined navigation system of GNSS+INS+odo, which uses the positioning and speed information output by GNSS, the precision factor of GNSS positioning and speed information, and the gyroscope and accelerometer information output by INS devices during fusion calculation. , and the speed information output by the odometer to complete continuous high-precision positioning speed and attitude information.

[0034] Its specific process is as figure 1 Shown:

[0035] 1) System start 101;

[0036] 2) The system is initialized 102, including noise matrix, weight matrix, state vector, initial state of navigation, etc.;

[0037] 3) Perform error compensation on the IMU data output by the INS device, and perform INS mechanical arrangement 103;

[0038] 4) Calculate the state transition matrix and perform Kalman f...

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Abstract

The invention provides a GNSS+INS+odo (global navigation satellite system+inertial navigation system+odometer) combined navigation system, which can solve the problems that at present in a combined navigation system of the vehicle-mounted field, vehicle-mounted easily outputtable odometer information can be effectively utilized to amend a GNSS+INS system so as to achieve a better positioning effect, and when the odometer information output of part of a vehicle-mounted system has low priority in vehicle-mounted master control scheduling and is likely to be discontinuous, a GNSS+INS combined navigation system can be directly adopted, and related amendment module can be started to achieve better positioning output. Without adding the vehicle-mounted system hardware cost, the combined navigation system performs adaptive adjustment of relevant algorithm module through reasonable use of sensor information, can output a good positioning result with or without a odometer, and for end-users, the cost performance is greatly enhanced, thus being easy for industrialization development.

Description

technical field [0001] The invention discloses an integrated navigation method, which is suitable for integrated navigation receivers integrated with various systems such as GNSS, INS, and odo (odometer, kilometers). Background technique [0002] GNSS (Global Navigation Satellite System) is a general term for all navigation satellite systems worldwide, including GPS (Global Positioning System, US Global Positioning System), GLONASS (Russian Glonass Navigation Satellite System), Galileo (European Galileo Navigation Satellite System), BDS (China Beidou Navigation Satellite System), etc., all of the above navigation satellite systems are designed to provide users with satellite navigation and positioning services around the clock. [0003] INS (Inertial Navigation System, Inertial Navigation System) is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. It belongs to a reckoning navigation method, that is, by c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/48G01S19/49
CPCG01C21/165G01S19/48G01S19/49
Inventor 刘丽宁
Owner 广州市泰斗鑫信息科技有限公司
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