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Kalman filter navigation method based on magnetic declination and magnetic inclination

A technology of Kalman filtering and navigation method, which is applied to the Kalman filtering navigation of magnetic inclination angle. Based on the field of magnetic declination, it can solve the problems of low navigation accuracy and poor portability.

Active Publication Date: 2018-12-07
ALLWINNER TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a Kalman filter navigation method based on magnetic declination and magnetic inclination to solve the low navigation accuracy and poor portability caused by ignoring the influence of magnetic declination and magnetic inclination in the prior art The problem

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  • Kalman filter navigation method based on magnetic declination and magnetic inclination
  • Kalman filter navigation method based on magnetic declination and magnetic inclination
  • Kalman filter navigation method based on magnetic declination and magnetic inclination

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Embodiment 1

[0045] Embodiment 1 of the present invention can be specifically applied to products that require high-precision navigation, such as drone positioning, automatic driving, digital city, robot navigation, etc. figure 1 It is a flow chart of a Kalman filter navigation method based on magnetic declination and magnetic inclination provided by Embodiment 1 of the present invention. The method of this embodiment specifically includes:

[0046]110. Set a carrier coordinate system, where the three axes of the carrier coordinate system are denoted as xyz.

[0047] In the example in this city, the carrier coordinate system is fixedly connected with the carrier, and the coordinate system conforms to the right-hand rule. Determined by the right-hand rule.

[0048] 120. Determine the attitude of the carrier at the current moment through the inertial sensor, which is recorded as att=[φ θ ψ], where φ represents the roll angle, θ represents the pitch angle, and ψ represents the heading angle...

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Abstract

The embodiment of the invention discloses a Kalman filter navigation method based on a magnetic declination and a magnetic inclination. The method comprises the following steps: constructing a carriercoordinate system, and determining a conversion matrix of the carrier coordinate system to an NED navigation coordinate system; using the following 18 state quantities as a system state: quaternions,three positions, three speeds, triaxial accelerometer zero offsets, triaxial gyro zero offsets, the magnetic declination and the magnetic inclination; constructing a state equation of a Kalman filtersystem based on magnetic declination and magnetic inclination; and calculating the speed and the position of the carrier based on Kalman filtering. UD sequential update is performed in the Kalman filter, a matrix D diagonal element undergoes scale changing, and previous scale can be returned through changing after the calculation is completed. The method in the embodiment of the invention fully considers the influences of the magnetic declination and the magnetic inclination, and has a high robustness and a high expandability.

Description

technical field [0001] Embodiments of the present invention relate to the field of navigation, in particular to a Kalman filter navigation method based on magnetic declination and magnetic inclination. Background technique [0002] Modern UAVs are generally equipped with a variety of navigation devices, such as inertial sensors IMU, GPS, etc., and Kalman filtering is usually used for data fusion and speed and position calculation. However, in the traditional integrated navigation, the Kalman filter does not take into account the magnetic declination and magnetic inclination, and it is found in engineering practice that if the influence of magnetic declination and magnetic inclination is not considered, it will lead to navigation effects in different regions of the world. There are large differences. In addition, during the sequential update of the Kalman filter UD, the division calculation of the diagonal elements of the matrix D will occur. If the differences between the d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/08
CPCG01C21/08G01C21/165
Inventor 刘兵刘恒吕元宙庄秋彬
Owner ALLWINNER TECH CO LTD
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