Measurement error compensation method for vehicle-mounted INS/OD integrated navigation system

An integrated navigation system, error compensation technology, applied in the direction of navigation, navigation, mapping and navigation through speed/acceleration measurement, can solve the problem of insufficient consideration of dynamic changes of lever arm, lack of inertial navigation system and odometer measurement Problems such as calibration and estimation of sexual parameters
CN110221333AActive Publication Date: 2019-09-10TONGJI UNIV
6 Cites 23 Cited by

Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
TONGJI UNIV
Publication Date
2019-09-10

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention relates to a measurement error compensation method for a vehicle-mounted INS / OD integrated navigation system. The problem solved by the technology of the invention is that a vehicle-mounted odometer assisted inertial navigation system is used for vehicle navigation on a distributed drive electric intelligent vehicle, the system considers the odometer calibration factor caused by changes in vehicle driving conditions, the availability of odometer data and the judgment of providing measurement compensation, and the install offset angle and lever arm error of calibrating the INS andleft and right odometer systems in the integrated navigation, correction is made by taking the above data as measurement quantity in the measurement system of the integrated navigation system to construct a filtering system taking the inertial position, velocity, attitude error, random constant error of the inertial device, calibration factor error of the left and right odometers and the lever arm as the state quantity, and the feedback correction is performed to improve the accuracy of the integrated navigation positioning based on measurement error compensation.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the technical field of vehicle navigation and positioning, in particular to a measurement error compensation method for a vehicle INS / OD integrated navigation system. Background technique

[0002] The inertial navigation system (Inertial Navigation System, INS) has the characteristics of high autonomy, anti-interference, high short-term accuracy, high data output rate, complete navigation information, wide adaptability, etc., but its system error has the characteristics of periodic oscillation, Some navigation parameter errors have the characteristics of accumulating over time and the initial alignment takes a long time; in order to compensate for the errors of the INS system, various combinations of INS-based integrated navigation systems have emerged, such as: inertial navigation / mileage odometer, inertial navigation / satellite, inertial navigation / geomagnetic, inertial navigation / Doppler, etc., among which the odometer soluti...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More