Angle and velocity increment-based vehicle-mounted posture fine alignment system

A speed increment and alignment system technology, applied to measuring devices, instruments, etc., can solve problems such as poor alignment accuracy and long alignment time, and achieve the effects of high accuracy, low cost, and expanded work adaptability

Active Publication Date: 2019-10-29
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the embodiment of the present invention aims to provide a vehicle-mounted attitude fine alignment system based on angle and velocity increments to solve the problems of poor alignment accuracy and long alignment time in the prior art

Method used

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  • Angle and velocity increment-based vehicle-mounted posture fine alignment system
  • Angle and velocity increment-based vehicle-mounted posture fine alignment system
  • Angle and velocity increment-based vehicle-mounted posture fine alignment system

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Embodiment 1

[0131] A specific embodiment of the present invention discloses a vehicle-mounted attitude fine alignment system based on angle and velocity increments, such as figure 1 As shown, it includes angle incremental acquisition module, speed incremental acquisition module and navigation calculation module. The output terminals of the angle incremental acquisition module and the speed incremental acquisition module are connected with the input terminals of the navigation calculation module.

[0132] The angle increment acquisition module is used to collect the angle increment of the vehicle's current three-axis deviation from the original three-axis in real time, and transmit it to the navigation calculation module.

[0133] The speed increment acquisition module is used to measure the speed increment of the vehicle along the original three axes in real time and transmit it to the navigation calculation module.

[0134] The navigation calculation module is used to perform error comp...

Embodiment 2

[0141] Optimizing on the basis of Embodiment 1, the system also includes an I / F signal conversion module, such as figure 2 As shown, it is between the speed increment acquisition module and the navigation calculation module.

[0142] The I / F signal conversion module is used to convert the electrical signal output by the speed increment acquisition module from analog to digital and transmit it to the navigation calculation module.

[0143] Preferably, the incremental angle acquisition module includes a three-axis fiber optic gyroscope. The three-axis fiber optic gyroscope is used to collect in real time the angle increment of the vehicle's current three-axis deviation from the original three-axis in the carrier coordinate system, convert it into a digital electrical signal, and transmit it to the navigation calculation module.

[0144] Preferably, the velocity increment acquisition module includes a three-axis quartz accelerometer. The three-axis quartz accelerometer is used...

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Abstract

The present invention relates to an angle and velocity increment-based vehicle-mounted posture fine alignment system, belongs to the vehicle posture alignment technologies, and resolves prior-art problems of poor alignment precision and long alignment time. The system comprises: an angle increment collection module, used for collecting in real time an angle increment of deviation of a current vehicle three-axis from an original three-axis; a velocity increment collection module, used for measuring in real time a velocity increment of a vehicle along the original three-axis; and a navigation calculation module, used for error compensation separately on the angle increment and the velocity increment, performing coarse alignment according to a compensation result, then updating a real-time status of the vehicle posture alignment system, so as to modify a coarsely aligned vehicle posture and velocity, obtaining vehicle state estimation according to a filtering gain of adaptive filtering ofthe vehicle posture alignment system, determining whether the vehicle state estimation is the same as a current vehicle state; and if not, updating the real-time status of the vehicle posture alignment system again until the vehicle state estimation is the same as the current vehicle state, so as to implement vehicle posture fine alignment.

Description

technical field [0001] The invention relates to the technical field of vehicle posture alignment, and in particular to a vehicle posture fine alignment system based on angle and speed increments. Background technique [0002] When the engine is idling and passengers get on and off the vehicle, the vehicle will shake. The existing technology generally requires a long rough alignment time to calculate the initial attitude of the carrier, so as to ensure that the accuracy of the current attitude of the vehicle obtained during the fine alignment process is high. [0003] The attitude alignment system adopted in the prior art is generally as follows: After compensating the raw data of the fiber optic gyroscope and the quartz accelerometer, two processes of coarse alignment and fine alignment are performed in real time, and the two processes are performed sequentially. But the alignment accuracy obtained by the attitude alignment system is poor, and the alignment time is long. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 李雨洋张啸宇刘琪
Owner BEIJING MECHANICAL EQUIP INST
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