Initial alignment optimization method based on GNSS angle

Abstract

The invention discloses an initial alignment optimization method based on a GNSS angle. The method comprises the following steps: S1) comparing the GNSS currently-obtained angle angle_GNSS with the inertial navigation currently-used angle, and when the difference between the two angles reaches a preset threshold value, executing the step 2); S2) calculating an error correction value err based on the sampling frequency of a gyroscope, the angular velocity for gyroscope sampling, the GNSS currently-obtained angle and the inertial navigation angle used in the most recent history; and S3) substituting the angular velocity error correction value err obtained in the step S2) into angular velocity collected by the gyroscope each time to obtain actual angular velocity angle_rel: angle_rel=Gry_Z-err, wherein the Gry_Z is the angular velocity collected by the gyroscope, and executing the step S1). The method can reduce computation and code amount of a device processor and reduce device (sensor)cost of a vehicle positioning device; and meanwhile, the method can achieve constant calibration in vehicle running, can reach a dynamic error convergence effect, and prevents the problem of long calibration time of a common algorithm and the like.

Description

technical field [0001] The invention relates to the field of vehicle positioning, in particular to an initial alignment optimization method based on GNSS angles. Background technique [0002] In the existing initial alignment scheme, it is necessary to use a high-precision sensor-6-axis G-Senser (acceleration sensor), the alignment result is relatively accurate, and no external data is required, and the goal can be achieved only through a high-precision 6-axis sensor . However, this scheme takes a long time to calibrate in the initial alignment stage, and needs to perform coarse alignment and fine alignment respectively. The implementation of high-precision sensors is costly; during the initial alignment, the vehicle needs to be in a static state, and the initial alignment conditions are severely limited; the effect of the initial alignment is also greatly affected by changes in vehicle temperature and occupants . Contents of the invention [0003] The purpose of the pr...

AI Technical Summary

Problems solved by technology

However, this scheme takes a long time to calibrate in the initial alignment stage, and needs to perform coarse alignment and fine alignment respectively. The realization of high-precision sensors is costly; during the initial alignment, the vehicle needs to be in a static state, and the initial alignment conditions are severely limited; the effect of the initial alignment is also greatly affected by changes in vehicle temperature and occupants

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