A Navigation Error Compensation Method for Helical Advance Equipment
A technology of error compensation and equipment, which is applied in the field of compensation for post-processing navigation errors of helical advance equipment, can solve problems such as prolonging the working time of combined navigation equipment, decreasing surveying and mapping accuracy, and internal detection equipment stuck in the pipeline, so as to improve post-processing positioning accuracy , Improve speed accuracy and attitude accuracy, and improve the effect of positioning accuracy
Active Publication Date: 2022-04-12
BEIJING AUTOMATION CONTROL EQUIP INST
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And during the measurement process, sometimes the internal detection equipment gets stuck in the pipeline, which prolongs the working time of the integrated navigation equipment and also leads to a decrease in the accuracy of surveying and mapping
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[0018] The present invention will be further described below by means of the accompanying drawings and specific embodiments.
[0019] Such as figure 1 As shown, the specific steps of the method are as follows.
[0020] Step 1) read inertial / odometer data and landmark point data;
[0021] Inertial / odometer data includes: real-time stored inertial device measurement information, odometer measurement information and its measurement time;
[0022] The landmark data includes: the position information of each landmark and the time when the detection equipment reaches the landmark;
[0023] The correctness of the above data can be checked.
[0024] The correctness check refers to: the detailed position information of two landmark points and the time when the detection equipment arrives at each landmark point should be included in the landmark point data; When the detection device reaches a landmark point, the measurement time of the end point must be at least later than the time ...
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The invention relates to the design technology of an inertial navigation system, and specifically discloses a navigation error compensation method for a helical advance device. After reading inertial / odometer data and landmark point data, the inertial navigation system is initially aligned, filtered and calculated, and then judged and detected. Whether the device is currently in a static state and the current state of motion and whether it has reached a landmark point, until the last landmark point is reached and the processing is completed. The method can eliminate the accumulative error caused by the midway stop in the post-processing calculation of the existing inertial navigation / odometer combined navigation equipment, and at the same time improve the positioning accuracy of the post-processing by using the static condition.
Description
technical field [0001] The invention relates to the design technology of an inertial navigation system, in particular to a compensation method for post-processing navigation errors of a helical advance device used for surveying and mapping. Background technique [0002] In the field of surveying and mapping, it is already a common way to use inertial navigation system or integrated navigation system to carry out work. Especially in the field of pipeline surveying and mapping, the combination of inertial navigation / odometer combined with high-precision ground magnetic marker signals is used as a waypoint scheme. Good practical effect has been achieved. In this scheme, the integrated navigation equipment is equipped with internal detection equipment and enters the pipeline for spiral advancement, and collects and stores the information of inertial navigation and odometer in real time for post-processing on the ground to obtain surveying and mapping results. In this scheme, th...
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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 马涛朱红李永锋蔡善军王根石志兴郭元江
Owner BEIJING AUTOMATION CONTROL EQUIP INST