MEMS-based GNSS/IMU vehicle-mounted real-time integrated navigation method

A combination of navigation and time technology, applied in the field of navigation and positioning, can solve the problems of affecting the filtering results, large size, complex calculation of inertial navigation and Kalman filtering, etc., and achieve the effect of improving positioning accuracy

Active Publication Date: 2018-09-14
NANCHANG UNIV
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Problems solved by technology

[0003] At the same time, for low-cost vehicle-mounted integrated navigation systems, during the real-time integrated navigation calculation process of GNSS and MEMSIMU, due to the high output frequency of MEMSIMU, the calculation amount of inertial navigation solution and Kalman filter is complex and huge. As far as the MCU is concerned, the calculation process at the previous moment takes a long time, so that when the information is fused at the next moment, the GNSS output information and the IMU output information are not at the same time, which will inevitably affect the current filtering results, thereby affecting the vehicle integrated navigation system. positioning accuracy

Method used

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[0028] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0029] like figure 1 As shown, the MEMS-based GNSS / IMU vehicle real-time integrated navigation method, its hardware part includes MEMSIMU, which includes a three-axis gyroscope and a three-axis accelerometer; MCU main control unit, responsible for sensor data collection and buffering; GNSS, output global A module for satellite positioning information. The MEMSIMU output data is transmitted by the SPI bus with the highest rate, and the GNSS output data is transmitted by the USART bus.

[0030] The method of the present invention comprises the steps of: utilizing the GNSS output information to dynamically align the initial attitude, position and velocity information of the IMU, such as figure 2 In the flow chart shown, the initial alignment calculation process is as follows:

[0031] Update the GNSS data information, use its information to solve the speed and satis...

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Abstract

The invention relates to the technical field of navigation and positioning, and particularly relates to an MEMS-based GNSS / IMU vehicle-mounted real-time integrated navigation and positioning method. The process comprises the steps that dynamic initial alignment is performed by using the output information of the current moment and the previous adjacent moment of the IMU and the output informationof the current moment of the GNSS; strapdown solving is performed by using the IMU information of the two successive moments, and the covariance matrix of the moment is obtained through Kalman prediction; the time condition is met and the fusion solving is triggered, the GNSS delay deviation dt is solved by using the corresponding UTC time of the IMU and the GNSS of the current moment, and the information of the GNSS at the current IMU moment is reckoned; and Kalman filtering updating is performed, the state error quantity is fed back to correct the navigation information and cyclic solving isperformed. The low-cost MEMS IMU is used and the GNSS delay output error is eliminated so that the positioning accuracy can be enhanced and the real-time vehicle-mounted integrated navigation and positioning method can be realized.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning, in particular to a MEMS-based GNSS / IMU vehicle-mounted real-time combined navigation method. Background technique [0002] Vehicle navigation technology continues to develop with the vigorous development of the automobile industry, and vehicle users have a great demand for real-time information such as the current vehicle location. With the development of Beidou navigation satellites, it forms GNSS together with GLONASS, GPS, GALILEO and other satellite navigation systems, which is the global satellite navigation system. , and the continuous development of society in recent years has formed a complex urban terrain environment, signal occlusion, multi-path and other factors lead to poor GNSS positioning effect; and the completely autonomous navigation characteristics of the inertial navigation system make up for the lack of GNSS positioning technology, but higher The high-preci...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47G01C21/16
CPCG01C21/165G01S19/47
Inventor 郭杭王凯龙李文斌余敏熊剑
Owner NANCHANG UNIV
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