A high-precision vehicle combined height measurement method
A high-precision technology for height measurement, applied in height/horizontal measurement, measuring devices, surveying and navigation, etc., can solve problems such as divergence and sudden jumps in short-term measured values, so as to improve the accuracy of height positioning and solve the problem of severe irregularities in height Effects of fluctuations and avoidance of elevation divergence
Active Publication Date: 2020-12-15
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology
[0003] The traditional height measurement method is limited by the pressure height measurement method, and the height measurement accuracy is greatly affected by temperature, humidity and short-term local meteorological changes, which are prone to sudden jumps in short-term measured values and long-term elevation changes that are slowly diverging in proportion to the actual elevation The problem
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[0050] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0051] The present invention is based on the inertial calculation, and uses the elevation measurement value output by the altimeter and the projection of the mileage output by the odometer in the elevation direction as observations respectively to establish two sub-filters, and use The federated filtering based on the principle of information allocation can eliminate the correlation of each sub-state estimation, the design is flexible, the calculation amount is small, and the optimal elevation estimation can be obtained only by simple and effective fusion.
[0052] The high-precision vehicle-mounted combined height measurement method of the present invention comprises the following steps:
[0053] Step 1. Establish the state equation of the inertial navigation odometer integrated system.
[0054] In this step, 21-dimensional state variables ar...
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The invention relates to a high-precision vehicle combination height measurement method. The method includes the following steps: establishing an inertial navigation odometer combination system stateequation; establishing an inertia / altimeter subfilter measurement equation; establishing an inertia / mileage sub-filter measurement equation; and performing resolving by using a Federated Kalman filterto obtain a high-precision vehicle combination height measurement result. Inertia resolving information, mileage information and air pressure height information are comprehensively utilized, and theeffective fusion of three pieces of height information is achieved through a combined navigation algorithm, so the height divergence phenomenon is effectively avoided, the severe irregular fluctuationof the height, caused by short-time pressure abnormality is solved, the height variation law during long-distance driving is effectively estimated, and the height positioning precision under long-haul long-distance and high-drop conditions is improved.
Description
technical field [0001] The invention belongs to the technical field of vehicle-mounted integrated navigation, and relates to a high-precision vehicle-mounted combined elevation measurement method. Background technique [0002] Land vehicle integrated navigation system generally consists of inertial measurement unit, odometer and altimeter. The inertial measurement unit senses carrier angle increments and velocity increments through gyroscopes and accelerometers for inertial calculations. The odometer measures the displacement increment of the vehicle, and calculates the horizontal positioning information of the vehicle through the dead reckoning method. The altimeter uses the air pressure measurement principle to accurately measure the atmospheric pressure of the installation environment, and calculates the elevation change caused by the air pressure change through the "air pressure-elevation" conversion relationship, so as to correct the elevation output in real time. [...
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IPC IPC(8): G01C5/00
CPCG01C5/00
Inventor 王晓亮李永涛孙晨赵圆赵帅张若维赵云旭
Owner TIANJIN NAVIGATION INSTR RES INST