Vehicle-mounted autonomous navigation method based on carrier motion condition constraint and uniaxial rotation modulation

A technology of rotation modulation and navigation method, applied in the field of navigation, which can solve the problems of highly correlated error observability, reduced inertial error estimation accuracy, and lack of vehicle forward speed

Active Publication Date: 2020-09-18
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

However, the main disadvantages of this method are: first, the forward speed of the vehicle is missing in the observations; second, the observability of the inertial system error is highly related to the maneuverability of

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  • Vehicle-mounted autonomous navigation method based on carrier motion condition constraint and uniaxial rotation modulation
  • Vehicle-mounted autonomous navigation method based on carrier motion condition constraint and uniaxial rotation modulation
  • Vehicle-mounted autonomous navigation method based on carrier motion condition constraint and uniaxial rotation modulation

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Embodiment Construction

[0099] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0100] The schematic diagram of IMU rotation installed in the center of the wheel is as follows: figure 1 As shown, the schematic diagram of the virtual odometer based on the rotating IMU is as follows figure 2 shown.

[0101] This embodiment provides a vehicle autonomous navigation method based on carrier motion constraints and single-axis rotation modulation, including the following steps:

[0102] Step 1. Calculate the forward speed and wheel rotation angle of the carrier based on the virtual odometer of the rotating IMU;

[0103] Install the IMU in the center of the wheel so that the IMU rotates with the movement of the carrier; o-x s the y s z s Represents the sensor coordinate system, o-x b the y b z b Represents the carrier coordinate system, where y b axis points to the front of the vehicle, z b axis perpendicular to y b axis pointin...

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Abstract

The invention discloses a vehicle-mounted autonomous navigation method based on carrier motion condition constraint and uniaxial rotation modulation, whichbelongs to the technical field of navigation.According to the method, anMEMS IMU is mounted in the center of a wheel, so that the MEMS IMU rotates along with the running of a vehicle. The forward speed of the carrier is calculated based on theoutput of the rotary IMU, and a three-dimensional speed observed quantity of the carrier is formed in combination with a non-integrity constraint condition (NHC); an improved strapdown inertial navigation calculation equation is utilized to calculate carrier position, speed and attitude information based on inertial output of a rotary IMU. On the basis of extended Kalman filtering, the three-dimensional speed of a carrier is taken as an observed quantity, online estimation of an inertial system error is realized, and errors of the position, speed and attitude of the carrier are corrected, so that the vehicle-mounted autonomous navigation precision is improved.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a vehicle-mounted autonomous navigation method based on carrier movement condition constraints and single-axis rotation modulation. Background technique [0002] With the rapid development of intelligent transportation technology, vehicle navigation system (LVNS) has become a research hotspot and is widely used in various application scenarios, including fleet management system, collision avoidance braking and vehicle tracking system, etc. Satellite / inertial integrated navigation system is widely used in vehicle navigation system because of its complementarity. However, because urban buildings, tunnels, trees, etc. are likely to cause satellite signal occlusion, the navigation solution is only based on the inertial navigation system during the period, resulting in rapid accumulation and divergence of navigation errors. This situation is particularly significant in...

Claims

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Application Information

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IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 杜爽甘旭东张瑞琪鲁琪王清林
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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