Method for speed compensation of positioning and orientation device
A technology of speed compensation, positioning and orientation, which is applied in the field of vehicle positioning and navigation, and can solve problems that affect the accuracy of navigation and positioning, positioning and orientation errors, etc.
Active Publication Date: 2018-05-29
BEIJING AUTOMATION CONTROL EQUIP INST
View PDF3 Cites 15 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] The technical problem to be solved in the present invention is: in the existing positioning and orientation methods, the positioning and orientation equipment will accumulate positioning and orientation errors during the course maneuvering process, which will eventually affect the accuracy of navigation and positioning
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0082] Define the coordinate system as follows:
[0083] n system: navigation coordinate system ox n the y n z n , is the northeast sky geographic coordinate system, x n axis points east, y n Axis points north, z n the axis points to the sky;
[0084] b system: carrier coordinate system ox b the y b z b , is the right front upper right coordinate system, x b axis points to the right of the vector, y b axis points to the front of the carrier, z b The axis points upwards of the carrier.
[0085] Method of the present invention specifically comprises the following steps:
[0086] Step 1. Establish a Kalman filter model
[0087] Take the state vector X as
[0088] X=[δV e ,δV n ,δV u ,φ e ,φ n ,φ u ,δλ,δL,δh,▽ x ,▽ y ,▽ z ,ε x ,ε y ,ε z ,φ ax ,δK D ,φ az ,Δt,R x , R y , R z ] T
[0089] in,
[0090] [δV e ,δV n ,δV u ] is the velocity error vector, δV e is the east direction velocity error, δV n is the north direction velocity error, δV u i...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention belongs to the technical field of vehicle positioning and navigation, and in particular relates to a method for speed compensation of a positioning and orientation device. The method forspeed compensation includes the following steps: establishing of a Kalman filtering model; system initialization; calculation of sky orientation and horizontal displacement components; calculation ofeast orientation and north orientation displacement components; calculation of equivalent velocity, and updating of Kalman filtering model information; Kalman filtering calculation of the system; andcorrection of an inertial navigation attitude matrix, velocity and position errors, and correction of mileometer scale factors and installation errors. The method solves the technical problems that positioning and orientation errors during the course of orientation maneuvering are accumulated, and the accuracy of the navigation and positioning of the positioning and orientation device in the prior art is ultimately affected, the method takes into account the lateral speed when in calculating of speed measurement information, and the lateral speed is effectively compensated, reduction of the accumulation of the positioning and orientation errors during the course of orientation maneuvering can be facilitated, the performance of the positioning and orientation device is improved, and the accuracy of navigation can be ensured.
Description
technical field [0001] The invention belongs to the technical field of vehicle positioning and navigation, and in particular relates to a speed compensation method for positioning and orientation equipment. Background technique [0002] In the positioning and navigation of land vehicles, it is a very general means to use inertial navigation and odometer to form positioning and orientation equipment, which can obtain relatively satisfactory performance. Compared with the integrated navigation system composed of satellite navigation, it has the advantages of full autonomy, all-weather, and no interference from external information. While being widely used, the performance requirements for positioning and orientation equipment are also increasing. [0003] In the existing positioning and orientation methods, the speed information of the odometer and the inertial navigation information are generally used for filtering calculations, and are compatible with the zero-speed correct...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 马涛朱红李永峰石志兴王根郭元江
Owner BEIJING AUTOMATION CONTROL EQUIP INST