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Navigation method realized by means of loose combination of visual navigation/inertial navigation

A technology of inertial navigation and visual navigation, applied in the field of navigation, can solve the problems of poor navigation accuracy, incomplete visual navigation/inertial navigation combined navigation, error accumulation over time, etc., and achieve high-precision results

Pending Publication Date: 2017-08-18
QILU UNIV OF TECH
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Problems solved by technology

Inertial navigation has good autonomy and concealment, can continuously provide a variety of high-precision navigation parameters, and has good anti-interference ability, but the disadvantage is that the error accumulates with time, so the navigation accuracy of long-term work is poor. In order to eliminate the accumulated error, Need to bring in external observations to make corrections to the inertial navigation system
At present, there is no complete research on the integrated navigation of visual navigation / inertial navigation

Method used

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  • Navigation method realized by means of loose combination of visual navigation/inertial navigation
  • Navigation method realized by means of loose combination of visual navigation/inertial navigation
  • Navigation method realized by means of loose combination of visual navigation/inertial navigation

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Embodiment Construction

[0016] The present invention will be described in detail below in conjunction with specific embodiments.

[0017] Such as figure 1 Shown, the steps of this embodiment are as follows:

[0018] Step 1, inertial navigation solution;

[0019] specifically is:

[0020] Select the local northeast sky geographic coordinate system as the navigation coordinate system, and the three-axis direction of the carrier coordinate system (system b) is "right, front, up";

[0021] (1) Initial alignment: Platform inertial navigation is the alignment between the physical platform and the navigation coordinate system; strapdown inertial navigation is the given initial attitude transformation matrix, that is, the given carrier coordinate system (b system) and navigation coordinate system (n department) relationship.

[0022] (2) Attitude update: According to the angular rate sensitive to the gyroscope, use the quaternion method for attitude update, and then convert the updated quaternion into an...

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Abstract

The invention relates to a navigation method realized by means of loose combination of visual navigation / inertial navigation. The main research content is to periodically correct inertial navigation parameters by using the position of the visual navigation and velocity information. The navigation method solves the problem that inertial navigation error accumulates over time. According to the navigation method, an error equation of an inertial navigation system is used as a state equation of a filter, the difference between the position calculated by means of the visual navigation and the position solved by using the inertial navigation system is used as measurement of Kalman filtering, and the parameters of the inertial navigation system and the error of a sensor are estimated, so that the inertial navigation parameters are corrected. Compared with the prior art, by adopting the scheme, the navigation method can enable the inertial navigation system to be maintained to have high accuracy for a long time, and the accuracy of the inertial navigation system is not affected due to failure of visual navigation calculation.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a loosely combined navigation method of visual navigation / inertial navigation. Background technique [0002] The inertial navigation system (Inertial Navigation System INS) uses the angular rate and acceleration of the carrier's motion measured by the inertial sensor (gyroscope and accelerometer), and according to Newton's law of mechanics, that is, the law of inertia, the carrier's position, velocity, and attitude are obtained through integral operations. A device or system with other motion parameters. Inertial navigation has good autonomy and concealment, can continuously provide a variety of high-precision navigation parameters, and has good anti-interference ability, but the disadvantage is that the error accumulates with time, so the navigation accuracy of long-term work is poor. In order to eliminate the accumulated error, External observations need to be introduced to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/00
CPCG01C21/00G01C21/16
Inventor 李庆华瞿敏夏啟凯
Owner QILU UNIV OF TECH
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