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Navigation method and navigation device

A navigation method and error technology, applied in navigation, measuring devices, surveying and navigation, etc., to achieve the effect of low cost, small size and light weight

Active Publication Date: 2017-07-28
BEIJING INST OF RADIO METROLOGY & MEASUREMENT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention discloses a navigation method and device to solve the problem of using a micro inertial measurement unit (MIMU) for navigation under uncalibrated conditions

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  • Navigation method and navigation device

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Embodiment Construction

[0029] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0030] In all embodiments of the present application, x, y, and z form a rectangular coordinate system, the x direction points to the right side of the drone, and the y direction points forward along the longitudinal axis of the drone.

[0031] The technical solutions provided by various embodiments of the present application will be described in deta...

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Abstract

The invention discloses a navigation method and a navigation device, and the method comprises the following steps: a satellite receiver acquires position and speed, a micro-inertial measurement unit acquires acceleration and a gyro instantaneous value, a strap-down inertial navigation algorithm is adopted to obtain position, speed and an attitude parameter calculated value of each measurement period, according to a filtering period, the satellite receiver outputs the position and a speed calibration value. A discrete Kalman filtering method is adopted to calculate 12 parameters including pitch angle error, roll angle error, course angle error, east-direction speed error, north-direction error, longitude error, latitude error, x, y, z-direction gyro error, x, y-direction acceleration error. The device of the invention comprises the micro-inertial measurement unit, the satellite receiver and a processor, and the processor further comprises a navigation parameter initialization unit, a strap-down inertial navigation calculation unit and an error estimation filter. According to the invention, the cost is low, the volume is small, and the precision is high.

Description

technical field [0001] This application relates to the field of unmanned aerial vehicles, in particular to a navigation method and device using satellite navigation and local inertial measurement means. Background technique [0002] Each single navigation system has its own unique capabilities and limitations. Small optical fiber or micro-mechanical inertial navigation devices have the advantages of low cost, small size, and light weight, and can independently provide attitude, position, and speed information for the carrier; the disadvantage is that navigation errors increase rapidly with time, especially MEMS inertial devices drift, zero The indicators such as partial repeatability are poor, and it is difficult to achieve the goal of improving the accuracy of inertial navigation through pre-calibration. [0003] The Beidou satellite navigation system is a satellite navigation system independently developed by my country. It can provide navigation, positioning and timing s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49G01C21/16
CPCG01C21/165G01S19/49
Inventor 谢淑香周应强刘昌建王林安晁芳群刘李娟谷宇舒丁孝永
Owner BEIJING INST OF RADIO METROLOGY & MEASUREMENT