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Inclined RTK heading initialization method

An initialization method and heading technology, which are used in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problems of being susceptible to magnetic field interference, need to be improved in efficiency, and long initialization time, so as to achieve short initialization time, easy implementation, and improved measurement. The effect of efficiency

Active Publication Date: 2020-05-01
WUHAN UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

There are two obvious disadvantages in the existing scheme: one is that using the magnetometer to find north is easily disturbed by the magnetic field and has poor reliability; In order to make the heading initialization accuracy reach a usable level, the efficiency needs to be improved

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  • Inclined RTK heading initialization method
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  • Inclined RTK heading initialization method

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Embodiment Construction

[0059] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0060] In the application scenario of inclined RTK, after the user turns on the power, the heading is initialized according to the method of the present invention. Specific steps are as follows:

[0061] 1) After the equipment is turned on, place the measuring rod flat on a flat and clean ground and stand still for 1 minute to determine the initial value of the large gyro zero offset.

[0062] 2) Lift up the measuring rod, touch the tip of the rod to the ground, and tilt the measuring rod to prepare to shake; keep still for 1 second before shaking, which is used to determine the initial roll angle and pitch angle.

[0063] 3) The measuring rod touches the ground, the tip of the rod remains still, and the top (IMU end) shakes to form a movement trajectory (called the IMU trajectory), as shown in figure 1 shown. At this time,...

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Abstract

The invention provides a method for calculating an INS initial heading angle error by matching an RTK track with an INS track in an inclined RTK application scenario, capable of realizing heading angle initialization with the precision of 1 degree within 2s. The INS track calculation method provided by the invention does not use an accelerometer, and a large zero offset initial value is deducted by virtue of a static way in a measurement initial stage, so that INS track calculation precision is guaranteed; meanwhile, the method provided by the invention is simple to operate and easy to realize, only a measuring rod needs to be shaken back and forth in situ, initialization is superfast, and measurement efficiency is also greatly improved; and compared with a general inclined RTK heading initialization method, the method provided by the invention does not need to use a magnetometer, can not be interfered by a magnetic field and has stronger adaptability in a complex environment.

Description

technical field [0001] The invention belongs to the field of heading initialization of a MEMS INS / GNSS integrated navigation system, and in particular relates to a fast and accurate heading initialization method for inclined RTK. Background technique [0002] Inertial navigation system (INS) is an example of dead reckoning navigation system, which has the advantages of complete autonomy, high reliability, and good dynamic performance. However, because its errors will accumulate over time, it often requires other navigation methods to assist with correction. Compared with INS, the global navigation satellite system (GNSS) can achieve high-precision positioning for a long time, and the error does not accumulate over time; but it also has disadvantages such as low output frequency, inability to perform continuous positioning, and inability to output attitude information. . Combine the two together to form an INS / GNSS integrated navigation system, which can provide continuous,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01C25/00G01S19/49
CPCG01C21/165G01C21/20G01C25/005G01S19/49G01S19/14G01S19/43G01C21/188G01S19/47G01C21/183
Inventor 陈起金牛小骥林欢郭若南赖昌鑫
Owner WUHAN UNIV