A vehicle-mounted DR navigation method based on odometer scale coefficient correction

A technology of scale coefficient and navigation method, applied in the fields of inertia and navigation, can solve problems such as large positioning error

Active Publication Date: 2020-10-30
LEADOR SPATIAL INFORMATION TECH CORP
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  • Application Information

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Problems solved by technology

[0004] The embodiment of the present application provides a vehicle-mounted DR navigation method based on the correction of the scale coefficient of the odometer, which solves the problem of large positioning errors in the low-cost vehicle-mounted inertial integrated navigation system in the prior art when turning

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  • A vehicle-mounted DR navigation method based on odometer scale coefficient correction
  • A vehicle-mounted DR navigation method based on odometer scale coefficient correction
  • A vehicle-mounted DR navigation method based on odometer scale coefficient correction

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Embodiment Construction

[0031] In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0032] This embodiment provides a vehicle-mounted DR (dead reckoning, dead reckoning) navigation method based on odometer scale coefficient correction, which mainly includes the following steps:

[0033] Step 1, the vehicle-mounted inertial integrated navigation system is installed on the vehicle-mounted platform, the vehicle-mounted inertial integrated navigation system includes an inertial measurement unit, GNSS, and odometer; the data information of the acquisition inertial measurement unit, the data information of the GNSS, and the data information of the odometer , and perform time synchronization on the three kinds of data information.

[0034] Step 2. Establish a compensation model for the scale coefficient of the odometer at the turning p...

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Abstract

The invention belongs to the technical field of inertia and navigation. The invention discloses a vehicle-mounted DR navigation method based on odometer scale coefficient correction. The method comprises the steps of installing a vehicle-mounted inertial integrated navigation system on a vehicle-mounted platform, acquiring data information of an inertial measurement unit, data information of a GNSS (Global Navigation Satellite System) and data information of a speedometer, and performing time synchronization on the three kinds of data information; establishing a turning point odometer scale coefficient compensation model, and obtaining a turning point odometer scale coefficient compensation value; according to the turning point odometer scale coefficient compensation value, obtaining the position increment of the compensated odometer; and correcting the DR navigation positioning result by combining the compensated position increment of the odometer and the data information of the inertial measurement unit to obtain final positioning information. The problem that in the prior art, when a vehicle-mounted inertial integrated navigation system turns around, the positioning error is large is solved, and the positioning and attitude determination precision of the system in the environment that GNSS signals are not available and turning around is achieved can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of inertial and navigation, in particular to a vehicle-mounted DR navigation method based on odometer scale coefficient correction. Background technique [0002] In the low-cost vehicle-mounted inertial integrated navigation system based on intelligent driving applications, due to the unstable performance of GNSS signals in various complex application environments such as urban canyons, tunnels, underground garages, rain and fog, in order to continuously and stably provide the position and attitude of the car, etc. information, usually an odometer is installed at the bottom of the wheel to assist the navigation and positioning of the system. The odometer installed on each wheel of the car outputs the wheel speed or relative position increment in real time according to a fixed frequency. When the GNSS signal is not available, the four wheel speed information is processed and then communicated with the inertia...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/18G01C22/00G01S19/47G01S19/53
CPCG01C21/165G01C21/18G01C22/00G01S19/47G01S19/53
Inventor 阮双双郭晟邵慧超姚功民
Owner LEADOR SPATIAL INFORMATION TECH CORP
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