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Method of quickly calibrating odometer and inertial navigation mounting angle and calibration coefficient

A scale factor and odometer technology, applied in the field of inertial navigation, can solve the problems of many preparations and demanding driving distance, and achieve the effect of solving many preparations and demanding driving distance.

Active Publication Date: 2019-03-19
红色江山(湖北)导航技术有限公司
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Problems solved by technology

[0007] The invention discloses a method for quickly calibrating the installation angle and scale coefficient of the odometer and the inertial navigation system, which is used to solve the problems of demanding driving distance and a lot of preparation work

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  • Method of quickly calibrating odometer and inertial navigation mounting angle and calibration coefficient
  • Method of quickly calibrating odometer and inertial navigation mounting angle and calibration coefficient
  • Method of quickly calibrating odometer and inertial navigation mounting angle and calibration coefficient

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Embodiment Construction

[0051] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with examples.

[0052] The method for quickly calibrating the installation angle and scale coefficient of the odometer and the inertial navigation system of the present invention includes three steps: static alignment of the inertial navigation system, rough calibration and fine calibration.

[0053] (1) INS static alignment includes:

[0054] 1) Receive the odometer calibration command sent by the host computer;

[0055] 2) Use Kalman filter technology to complete 5min static alignment.

[0056] After the static alignment of the inertial navigation is completed, it will enter the navigation state, and the eastward, northward, and skyward speed information of the vehicle can be calculated in real time. The displacement value of the vehicle can be obtained by multipl...

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Abstract

The invention relates to a method of quickly calibrating odometer and inertial navigation mounting angle and calibration coefficient, wherein the method includes inertial navigation static alignment,rough calibration and fine calibration. After static alignment, a vehicle starts traveling, and rough calibration is completed when traveling length reaches a meters; in rough calibration, odometer calibration coefficient is roughly calculated; after rough calibration, the vehicle travels again; fine calibration is completed when traveling length reaches b meters; in fine calibration, odometer andinertial navigation mounting angle and calibration coefficient are calculated precisely. The method herein has no requirement on linear traveling of a vehicle; calibration can be completed just by the vehicle travelling freely by 200 m; operation is simple, and the requirement is low. Pre-calibrating positional information of a start point and an endpoint is not required; receiving satellite datais only required; the guarantee requirement is low.

Description

technical field [0001] The invention relates to inertial navigation technology, in particular to a method for quickly calibrating the installation angle and scale coefficient of an odometer and inertial navigation. Background technique [0002] Before combining inertial navigation and odometer, the installation angle and scale coefficient of inertial navigation and odometer must be calibrated to complete dead reckoning. At present, the general calibration method is that the mileage of the vehicle traveling along a straight line at a constant speed is not less than 1km, and it is required to accurately measure the longitude, latitude and height information of the starting point and the ending point, and use the measured latitude and longitude information and the odometer to output the pulse value. Calculate the installation angle and scale coefficient of inertial navigation and odometer. [0003] There are two main disadvantages in the current general inertial navigation and...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 王芳
Owner 红色江山(湖北)导航技术有限公司
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