Inertia/odometer integrated navigation filtering method, electronic equipment and storage medium

An integrated navigation filtering and integrated navigation technology, which is applied in the online smoothing field of inertial/odometer integrated navigation, to achieve the effect of improving navigation positioning accuracy and good filtering robustness

Active Publication Date: 2020-12-11
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0006] Aiming at the problem of navigation and positioning accuracy of unmanned vehicles in complex environments, the pre

Method used

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  • Inertia/odometer integrated navigation filtering method, electronic equipment and storage medium
  • Inertia/odometer integrated navigation filtering method, electronic equipment and storage medium
  • Inertia/odometer integrated navigation filtering method, electronic equipment and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0074] This embodiment provides an inertial / odometer integrated navigation filtering method, including:

[0075] S1. Based on the data information received by the strapdown inertial navigation and the wheel odometer, an inertial / odometer integrated navigation model based on ST-EKF is established.

[0076] (1) Establish ST-EKF model;

[0077]

[0078] where: g n is the local gravity vector; ∧ represents transforming the vector into an oblique symmetric matrix; is the projection of the speed of the carrier coordinate system relative to the earth's motion in the navigation coordinate system; is the projection of the earth’s rotation angular rate relative to the geocentric inertial coordinate system in the navigation system; φ n with are attitude misalignment angle and velocity error vector, respectively; The projection of the angular velocity generated by the local North East Earth (NED) navigation coordinate system relative to the earth's motion on the local navigati...

Embodiment 2

[0134] refer to figure 1 It is a flow chart of the present embodiment, and the present embodiment provides an inertial / odometer combined navigation filtering method, which specifically includes the following steps:

[0135] Step 1, the inertial / odometer integrated navigation system starts to output the data of the strapdown inertial navigation and the wheel odometer. The strapdown inertial navigation system outputs the gyro and meter data of the carrier system (front-right-bottom), takes the North-East-Earth (N-E-D) local geographic coordinate system as the navigation system, and the wheel odometer outputs the instantaneous speed of the vehicle.

[0136] Step 2. Based on the ST-EKF-based inertial / odometer integrated navigation model constructed in Example 1, complete the forward filtering and sliding window data storage of the ST-EKF-based inertial / odometer integrated navigation.

[0137] During the forward filtering process of the system, after each time update and measureme...

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Abstract

Aiming at the navigation positioning precision problem of an unmanned vehicle in a complex environment, the invention provides an inertia/odometer integrated navigation filtering method, electronic equipment and a storage medium, and the method comprises the steps: building an inertia/odometer integrated navigation model based on STEKF based on the data information received by strapdown inertial navigation and a wheel type odometer; completing forward filtering based on the established STEKF-based inertia/odometer integrated navigation model, and storing output filtering information into a sliding window space in real time; and filtering information stored in the sliding window space is used for online smoothing, and posture, speed and position information output by the integrated navigation system is corrected. The method is an online smooth filtering method with real-time track correction capability and better filtering robustness, and is a feasible method for improving the navigation and positioning precision of the unmanned vehicle in a complex environment.

Description

technical field [0001] The invention relates to the technical field of integrated navigation nonlinear filtering, in particular to an online smoothing method for inertial / odometer integrated navigation based on state transformation Kalman filter (ST-EKF). Background technique [0002] In recent years, with the continuous improvement of the level of intelligence, unmanned driving technology has achieved rapid development. Manufacturers such as Google, Tesla, and Toyota have put high-tech scientific research results into the market one after another, which has brought a lot of convenience to people's lives. However, the unmanned driving technology at this stage is far from perfect. In complex scenes such as rural roads, pastures, grasslands, beaches and deserts, there is no fixed characteristic structure, and there is a lack of external information from ground base stations. The navigation and positioning accuracy of unmanned vehicles is greatly reduced due to the varied wild ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/18
CPCG01C21/165G01C21/18
Inventor 王茂松杜学禹吴文启
Owner NAT UNIV OF DEFENSE TECH
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