Starting method for vehicle-used integrated inertial navigation system under the condition of no observation value, vehicle-used integrated inertial navigation system and vehicle

An inertial navigation system, a technology without observation, applied in directions such as navigation through speed/acceleration measurement, which can solve problems such as not being able to provide

Active Publication Date: 2019-05-24
上海戴世智能科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is that, without introducing additional observation sources (also known as environmental sensors), even if existing observation sources (such as Global Navigation Satellite System, GNSS for short) cannot p

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  • Starting method for vehicle-used integrated inertial navigation system under the condition of no observation value, vehicle-used integrated inertial navigation system and vehicle
  • Starting method for vehicle-used integrated inertial navigation system under the condition of no observation value, vehicle-used integrated inertial navigation system and vehicle
  • Starting method for vehicle-used integrated inertial navigation system under the condition of no observation value, vehicle-used integrated inertial navigation system and vehicle

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[0028] It is easy to understand that, according to the technical solution of the present invention, those skilled in the art can propose multiple structural modes and implementation modes that can be replaced without changing the essence and spirit of the present invention. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the entirety of the present invention or as a limitation or restriction on the technical solution of the present invention.

[0029] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom that are mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings, and they are It is a relative concept, so it may change accordingly according to its different positions and different usage states. Accordingly, these or other directional terms should not be...

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Abstract

The invention discloses a starting method for a vehicle-used integrated inertial navigation system under the condition of no observation value, a vehicle-used integrated inertial navigation system anda vehicle. The method is characterized by including the following steps: S1. in the process of vehicle movement, calculating, by the integrated inertial navigation system, a transformation operator Tbetween a vehicle body coordinate system and an earth coordinate system in real time; S2. when the vehicle is judged to be in a parking state, recording the last transformation operator T in a nonvolatile manner; and S3. when the vehicle is restarted, when the vehicle is judged to be in a parking state, converting a space vector under the current vehicle body coordinate system into a space vectorunder the earth coordinate system through the transformation operator T to realize the startup of the integrated inertial navigation system.

Description

technical field [0001] The invention relates to a method for starting a combined inertial navigation system, a combined inertial navigation system for a vehicle and a vehicle, in particular to an application scenario for starting a vehicle after parking from outdoor to an indoor garage. Background technique [0002] Integrated inertial navigation system (referred to as "integrated inertial navigation") is usually used in aerospace, ships and other fields. The rise of autonomous driving technology has brought new application fields for integrated inertial navigation technology. The system generally obtains the absolute position of the vehicle through GNSS, and inputs the Kalman filtering (Kalman filtering) algorithm as an observation value to fuse with the vehicle acceleration and angular velocity obtained through the inertial device (IMU), and finally obtains a highly robust, coherent , smooth, and high update rate vehicle position, dynamics and attitude information. Howev...

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Application Information

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IPC IPC(8): G01C21/16
Inventor 陆海峰卞江
Owner 上海戴世智能科技有限公司
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