A Speed Compensation Method for Positioning and Orientation Equipment
A technology of positioning, orientation and speed compensation, which is applied in the field of vehicle positioning and navigation, and can solve problems such as positioning and orientation errors and affecting the accuracy of navigation and positioning
Active Publication Date: 2021-06-08
BEIJING AUTOMATION CONTROL EQUIP INST
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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
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[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...
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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. The speed compensation method of the present invention comprises the following steps: establishing a Kalman filter model; system initialization; skyward and horizontal displacement component calculation; eastward and northward displacement component calculation; equivalent velocity calculation, and update Kalman filter model information; The system performs Kalman filter calculation; corrects the inertial navigation attitude array, speed, and position errors, and corrects the odometer scale coefficient and installation errors. The present invention needs to solve the technical problem that the existing 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. When calculating the speed measurement information, the lateral speed is considered, and it is effectively implemented. The compensation is beneficial to reduce the accumulation of positioning and orientation errors in the process of heading maneuvers, improve the performance of positioning and orientation equipment, and ensure the accuracy of navigation.
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...
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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