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A tilt rtk heading initialization method

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

Active Publication Date: 2021-05-18
WUHAN UNIV
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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

Method used

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  • A tilt rtk heading initialization method
  • A tilt rtk heading initialization method
  • A tilt 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 proposes a method for calculating the initial heading angle error of the INS by matching the RTK trajectory and the INS trajectory in an application scenario of inclined RTK, which can realize the heading angle initialization with an accuracy of 1deg within 2s. The INS trajectory estimation method proposed by the present invention does not use an accelerometer, and deducts a large initial value of zero offset by static in the initial stage of measurement, so as to ensure the accuracy of the INS calculated trajectory. At the same time, the method of the present invention is simple to operate and easy to implement, and only needs to shake the measuring rod back and forth on the spot, and the ultra-fast initialization time also greatly improves the measuring efficiency. Compared with the general tilt RTK heading initialization method, the method of the present invention does not need to use a magnetometer, is not disturbed by a magnetic field, and has stronger adaptability in complex environments.

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 Patents(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
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