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Error estimation method, integrated navigation processing system and storage medium

A technology of integrated navigation and processing system, applied in the field of error estimation method, integrated navigation processing system and storage medium, can solve the problems of reducing positioning accuracy, difficult to guarantee the installation method and installation position of IMU, etc.

Pending Publication Date: 2021-05-11
GUANGZHOU GEOELECTRON
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  • Application Information

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Problems solved by technology

But in the actual installation, it is difficult to guarantee the installation method and installation position of the IMU
In the case of ignoring the IMU installation angle and offset, the use of non-integrity constraints will introduce new errors in the integrated navigation, thereby reducing the positioning accuracy

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  • Error estimation method, integrated navigation processing system and storage medium
  • Error estimation method, integrated navigation processing system and storage medium
  • Error estimation method, integrated navigation processing system and storage medium

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Embodiment Construction

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0050] In order to facilitate the understanding of the embodiments of the present invention, further explanations will be given below with specific embodiments in conjunction with the accompanying drawings, which are not intended to limit the embodiments of the present invention.

[0051] figure 1 A schematic flow chart of an error estimatio...

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Abstract

The embodiment of the invention relates to an error estimation method, an integrated navigation processing system and a storage medium. The method comprises the following steps: acquiring a first observed quantity collected by an MEMS IMU under a first coordinate system; performing mechanical arrangement on the first observed quantity to obtain position data, speed data and attitude information of the carrier under the second coordinate system; acquiring state parameters according to the position data, the speed data and the attitude information; and estimating a three-dimensional misalignment angle error between the first coordinate system and the third coordinate system and a translation error of the first coordinate system and the third coordinate system in the X direction according to the position data, the speed data, the attitude information and the state parameters. By means of the mode, the application range of the non-integrity constraint is improved, and errors caused by the non-integrity constraint are reduced, so the purposes of improving the positioning and attitude determination precision of the system are achieved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicle navigation, and in particular to an error estimation method, an integrated navigation processing system and a storage medium. Background technique [0002] Modern vehicle positioning and navigation systems need to meet the requirements of high precision, high reliability, low cost, and low power consumption at the same time, so as to adapt to the increasing demand of modern vehicles for assisted driving and unmanned driving systems. The integrated navigation system based on Global Navigation Satellite System (GNSS) / Inertial Navigation System (INS) can give full play to the advantages of GNSS and inertial navigation systems and provide more reliable high-precision positioning information. [0003] In order to meet the cost, volume and power consumption requirements of modern vehicle navigation systems. Generally, a Micro-Electrical-Mechanical System (MEMS for short)-inertial ...

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Application Information

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IPC IPC(8): G01C25/00G01C21/34
CPCG01C25/00G01C21/34
Inventor 李韬林涛
Owner GUANGZHOU GEOELECTRON
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