Inertial navigation and vehicle central inflation and deflation system fused mileage factor correction method

Abstract

The invention provides an inertial navigation and vehicle central inflation and deflation system fused mileage factor correction method. The method comprises the steps: transmitting tire pressure information of a vehicle central inflation and deflation system to the inertial navigation in real time; after inputting a local standard coordinate point to the inertial navigation, and the vehicle linearly runs for a set distance, outputting pure inertial navigation positioning data and odometer reckoning positioning data and calculating a mileage factor under the current tire pressure; selecting aplurality of groups of tire pressure values, and respectively calculating corresponding mileage factors; establishing a tire pressure-mileage factor model according to the corresponding relationship between each group of tire pressure values and mileage factors; and calculating the current mileage factor according to the tire pressure adjustment value input by the central inflation and deflation system of the current vehicle and the tire pressure-mileage factor model. According to the invention, the positioning precision of the inertial navigation after inflation and deflation operation cannotbe reduced.

Description

technical field [0001] The invention relates to the technical field of vehicle-mounted inertial navigation systems, in particular to an odometer scale factor correction method in which an inertial navigation system and a central inflation and deflation system are integrated. Background technique [0002] The inertial navigation system is based on Newton's three laws of mechanics, and calculates the attitude, speed, position and other information of the carrier by measuring the angular motion and linear motion of the carrier through the inertial sensor. Navigation accuracy. However, due to the accumulation of its errors over time, its navigation accuracy cannot be guaranteed when used for a long time. The odometer is a common configuration of various vehicle platforms, which uses sensors to measure the pulse output by the rotation of the wheel for mileage measurement. As an autonomous speed measuring device, the error of the odometer itself does not diverge with time, but t...

AI Technical Summary

Problems solved by technology

When the tire pressure change rate is greater than 1% / min, the convergence time of the Kalman filter algorithm becomes longer (about 10 minutes to fully converge), and the odometer scale factor used in the navigation solution cannot be adaptively adjusted in time. The scale factor of the odometer estimated at the time does not match the actual situation, which directly leads to a significant drop in the positioning accuracy of the system

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