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

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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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 provide effective observation data, the system can still quickly Complete the initialization, so as to solve the problem of starting the combined inertial navigation system in various environments, especially indoor scenes such as underground garages

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