A portable inertial navigation positioning rod and its positioning and attitude determination method

A technology of inertial navigation and positioning rod, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, instruments, etc., can solve the problems of interrupting the normal movement of the carrier, interference, etc., to reduce costs and costs, and improve positioning and attitude determination Accuracy, cost reduction effect

Active Publication Date: 2022-04-15
WUHAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the use of zero-speed correction information requires the carrier to be in a static state, which interferes and interrupts the normal movement of the carrier

Method used

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  • A portable inertial navigation positioning rod and its positioning and attitude determination method
  • A portable inertial navigation positioning rod and its positioning and attitude determination method
  • A portable inertial navigation positioning rod and its positioning and attitude determination method

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Embodiment Construction

[0053] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0054] Such as figure 1 As shown, the portable inertial positioning rod according to the embodiment of the present invention includes a carrier rod 1 , an inertial measurement unit 2 , and a data processing unit 4 , including but not limited to a pressure sensor 3 . The sensors are all fixedly installed on the carrier pole 1; the sensor data are transmitted to the data processing unit 4 in real time for positioning and attitude determination.

[0055] The inertial measurement unit (IMU) 2 includes a three-axis accelerometer and a three-axis gyroscope for measuring three-dimensional specific force...

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Abstract

The invention discloses a portable inertial navigation positioning rod and its positioning and attitude determination method. Based on the zero-speed correction / inertial navigation system, the inertial navigation positioning rod includes a carrier rod, a measurement sensor and a data processing unit; the zero-speed detection sensor is used for detection and identification The period when the positioning rod obtains a zero-speed correction opportunity; the zero-speed observation value is used as a measurement update, and the data is fused with the inertial navigation solution to realize the combined positioning and attitude determination. The invention solves the problem of precision divergence caused by the rapid accumulation of navigation errors of low-cost micro-electromechanical (MEMS) inertial navigation systems (INS) over time, and can adopt an extremely easy and convenient form without interrupting / disturbing the system's motion state Realize zero-speed correction, suppress error divergence of inertial navigation system, and realize accurate positioning of portable navigation and positioning or mapping equipment.

Description

technical field [0001] The invention relates to the field of inertial navigation and inertial combined navigation positioning, in particular to a portable inertial navigation positioning rod and a positioning and attitude determination method thereof. Background technique [0002] Inertial navigation is a technology that obtains positioning and attitude results by projecting and integrating data from inertial sensors (including gyroscopes and accelerometers). The navigation and positioning errors accumulate over time, especially for low-cost micro-electromechanical (MEMS) inertial navigation. The navigation error of the system (INS) accumulates rapidly over time. Inertial navigation systems often need to be combined with other navigation and positioning methods to form an integrated navigation system to solve the problem of accuracy divergence. Integrated navigation generally requires additional sensors to obtain external auxiliary positioning information and correct inerti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20G01C25/00
CPCG01C21/16G01C21/20G01C25/00
Inventor 牛小骥陈起金周禹昆旷俭李雨郭若南赖昌鑫
Owner WUHAN UNIV
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