Supercharge Your Innovation With Domain-Expert AI Agents!

Inertial navigation and double-antenna GNSS (Global Navigation Satellite System) external parameter calibration method

A calibration method and dual-antenna technology, applied in the field of satellite navigation, can solve problems such as difficulty, limited measurement accuracy, and complex measurement, and achieve the effect of improving efficiency and saving costs

Pending Publication Date: 2021-09-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF0 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem that traditional external parameter measurement methods have limited measurement accuracy, and the measurement is complex and difficult, this invention proposes an online calibration method for inertial navigation and dual-antenna GNSS external parameters, which saves the cost of calibration without the need for additional professional equipment , which improves the calibration efficiency

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Inertial navigation and double-antenna GNSS (Global Navigation Satellite System) external parameter calibration method
  • Inertial navigation and double-antenna GNSS (Global Navigation Satellite System) external parameter calibration method
  • Inertial navigation and double-antenna GNSS (Global Navigation Satellite System) external parameter calibration method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0180] The method of the present invention is verified experimentally in the form of simulation. The simulation conditions are set as follows: gyro constant drift is 10° / h, random drift is 10° / h; accelerometer constant zero bias is 1mg, random drift is 1mg; GNSS position measurement error is 5cm, velocity measurement error is 0.05m / s , the heading measurement error is 0.1°; the lever arms of IMU and GNSS are 1m, 0.5m, 0.8m, and the heading deviation angle is 1°; the sampling frequency of gyro and accelerometer is 100Hz, and the sampling frequency of GNSS is 5Hz.

[0181] figure 2 It is a simulated track map for the vehicle, including acceleration and deceleration, turning, climbing, etc.

[0182] 100 Monte Carlo simulation tests were carried out, and the experimental results are as follows: image 3 , Figure 4 , Figure 5 and Image 6 As shown, it can be seen that the estimated external parameters all oscillate around the theoretical value, and the accuracy is high. Th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an inertial navigation and double-antenna GNSS (Global Navigation Satellite System) external parameter calibration method, and belongs to the technical field of satellite navigation. The method comprises the following steps of: initializing an SINS (Strapdown Inertial Navigation System) by using double-antenna GNSS output, predicting the attitude, the speed and the position of a carrier by using a gyroscope and an accelerometer sensor, and performing online estimation on inertial navigation and double-antenna GNSS external parameters by using the position, the speed and the course output by the GNSS through a Kalman filter. Compared with a traditional method for obtaining high measurement precision by using professional optical equipment, the method does not need extra professional equipment, so that the calibration cost is saved, and the calibration efficiency can be improved.

Description

technical field [0001] The invention relates to an inertial navigation and dual-antenna GNSS (global navigation satellite system) external parameter calibration method, which belongs to the technical field of satellite navigation. Background technique [0002] In the high-precision SINS / GNSS (strapdown inertial navigation system / global navigation satellite system) integrated navigation system, it is necessary to use GNSS measurement information to correct the navigation results of SINS and estimate the drift of the inertial device itself. The GNSS antenna and IMU are usually not installed in the same position, because GNSS will be installed on the top of the vehicle in order to reduce signal occlusion, and the IMU (inertial measurement unit) will be fixed in order to sense the angular velocity and acceleration of the vehicle body as much as possible. Inside the car body, the position, speed and heading of GNSS and SINS are not consistent. In order to better realize the comb...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/34G01C25/00G01S19/47
CPCG01C21/165G01C21/3415G01C25/005G01S19/47Y02T10/40
Inventor 岑益挺赖际舟吕品李志敏白师宇王炳清孙鑫许晓伟余文斌朱静漪刘瑞
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com