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Abnormal odometer data post-processing method for SINS/DR integrated navigation system

An integrated navigation system and abnormal data technology, applied in the post-processing field of odometer abnormal data in the SINS/DR integrated navigation system, can solve problems such as filter measurement error, inertial navigation system attitude error, system state estimation error, etc., to improve efficiency and precision, avoiding the effects of repeated measurements

Inactive Publication Date: 2018-03-09
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

The error includes two aspects. One is the measurement error of the SINS / DR integrated navigation system filter caused by the displacement incremental error of the odometer, which leads to the system state estimation error, which causes the attitude error of the inertial navigation system; the other is the odometer The positioning error of the track inspection instrument on the track caused by slipping

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  • Abnormal odometer data post-processing method for SINS/DR integrated navigation system
  • Abnormal odometer data post-processing method for SINS/DR integrated navigation system
  • Abnormal odometer data post-processing method for SINS/DR integrated navigation system

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Embodiment Construction

[0028] A SINS / DR integrated navigation system odometer abnormal data post-processing method, comprising the following steps:

[0029] Step 1: Judgment of odometer slippage based on measurement difference

[0030] The difference between the speed error differential equation of the strapdown inertial navigation system and the dead reckoning system can be obtained:

[0031]

[0032] The speeds in the formula are both north and east speeds. in is the speed error differential of the SINS system, is the speed error differential of the dead reckoning system, g n is the gravity acceleration in the navigation coordinate system, φ n is the attitude angle error, is the angular velocity of the earth's rotation, is the angular velocity of the carrier relative to the earth coordinate system, is the speed in the navigation coordinate system, ▽ n is the component of the accelerometer measurement value in the navigation coordinate system.

[0033] Since the speed error is the ...

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Abstract

The invention belongs to a processing method, and particularly relates to an abnormal odometer data post-processing method for an SINS / DR integrated navigation system. The abnormal odometer data post-processing method comprises the following steps: 1, based on measuring differential odometer slip judgment, calculating an odometer data abnormality condition according to a measuring differential jump; 2, correcting an error in case of an odometer slip situation, namely, correcting the error caused by the slip situation, according to the condition in the step 1. The invention has the effects as follows: when the data post-processing method is not used, if a slip occurs during track measurement, all subsequent measurement data have errors, so that a track is required to be remeasured; after the odometer data processing method based on measuring differential of the SINS_DR integrated navigation system is used for post-processing the data, the measurement error caused by the odometer slip can be corrected to avoid repeated measurement, so that the efficiency and the accuracy of track detection are effectively improved.

Description

technical field [0001] The invention belongs to a processing method, in particular to a method for post-processing abnormal data of an odometer in a SINS / DR integrated navigation system. Background technique [0002] The portable rail detector based on the strapdown inertial navigation system, its track detection principle is to obtain the track coordinate information of the installation position of the inertial navigation through the principle of inertial measurement during the process of pushing the trolley on the track, and then according to the installation position of the trolley and the inertial navigation The relative position relationship between the positions is converted to obtain the position information of the measured point on the track, so as to calculate the smoothness parameter of the track. Therefore, the positioning accuracy of the SINS / DR integrated navigation system directly determines the orbit measurement accuracy. [0003] During the track measurement...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C22/00
CPCG01C21/165G01C22/00
Inventor 王万征郭玉胜
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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