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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

Active Publication Date: 2019-09-10
TONGJI UNIV
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Problems solved by technology

[0006]1. Lack of calibration and estimation of measurement consistency parameters for the inertial navigation system and odometer installed on the vehicle;
[0007]2. The dynamic change of the lever arm due to the change of vehicle attitude is not fully considered;
[0008]3. There is no good estimation and adaptation of the odometer scale coefficient caused by the change of vehicle driving conditions;
[0009]4. Lack of judgment on the availability of actual odometer data and the provision of measurement compensation for skidding, sideslip, jumping, turning, and acceleration and deceleration conditions in the vehicle

Method used

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

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Embodiment

[0065] The present invention is divided into four stages, the first stage is the INS initialization stage, the second stage calibrates the initial value of the installation angle error, the lever arm, and the odometer scale coefficient; the third stage is the data acquisition and processing stage, the odometer availability judgment and the INS device error compensation, attitude calculation and navigation calculation. The fourth stage is combined filtering and feedback correction stage.

[0066] Concrete implementation steps of the present invention are as figure 2 Shown:

[0067] (1) The vehicle is stationary for INS initialization;

[0068] (2) Use measuring instruments and vehicle structure to measure and calibrate the installation angle error and lever arm error, such as figure 1 As shown, the scale coefficient of the odometer is also calibrated to obtain the coordinate transformation matrix of odometer 1 and odometer 2 relative to the carrier system, the error of the ...

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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.

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

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Application Information

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IPC IPC(8): G01S19/49G01S19/52G01S19/40G01C21/16
CPCG01S19/49G01S19/52G01S19/40G01C21/165
Inventor 熊璐陈辛波韩燕群夏新陆逸适高乐天胡英杰魏琰超宋舜辉刘伟
Owner TONGJI UNIV
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