Initialization method of integrated navigation device, integrated navigation device and computer readable medium

Abstract

The invention relates to an initialization method of an integrated navigation device. The initialization method comprises the following steps: randomly selecting a fixed point on the ground surface; standing the integrated navigation device on the horizontal ground to obtain a zero offset value of a sensor module; taking up the integrated navigation device and then standing to obtain initial values of all parameters of the sensor module; placing the integrated navigation device at a plurality of different places, and aiming at the fixed point in a plurality of different postures to obtain a plurality of estimation parameters of the corresponding sensor module and a plurality of distance values between a measurement point and the fixed point; obtaining a coordinate value of the measurement point resolved by a GNSS module; and calculating the error value of the sensor module according to the obtained parameters, distance values and coordinate values, so that a user can realize high-precision remote target point inclination measurement without directly contacting the target during outdoor operation.

Description

technical field [0001] The invention relates to the technical field of satellite navigation, in particular to an initialization method of an integrated navigation device, an integrated navigation device executing the method, and a computer-readable medium. Background technique [0002] The traditional GNSS (Global Navigation Satellite System, Global Navigation Satellite System, which refers to all satellite navigation systems, including global, regional and enhanced, such as GPS in the United States, Glonass in Russia, Galileo in Europe, and Beidou in China Satellite navigation system, and related augmentation system) receivers meet the centimeter-level positioning accuracy, but it is necessary to level the leveling bubble of the center pole to measure, so it cannot be used in many scenarios, such as: corner points, which cannot be achieved The vertical requirement of the center pole makes the operation efficiency relatively low. In order to realize the tilt measurement of ...

AI Technical Summary

Problems solved by technology

Due to cost and size constraints, most inertial navigation GNSS receivers use low-cost MEMS (micro-electro-mechanical systems: micro-electro-mechanical systems) inertial devices, and the gyro bias varies from tens of degrees / hour to hundreds of degrees / hour , it is impossible to realize the self-alignment of the static base of the heading

Currently on the market, only the IMU solution is used, and the initial calibration of the heading angle is mostly cumbersome. For example, it is necessary to hold the receiver and walk a few meters to tens of meters in a straight line to complete it; there are also operations that shake the receiver back and forth on the spot to achieve the initial heading calibration. , but affected by the shaking amplitude and speed, the initialization time varies from tens of seconds

The scheme using IMU and magnetometer can easily realize the initialization of the heading angle, but when the user does not know the quality of the magnetic environment, the magnetic calibration is susceptible to electromagnetic interference from the external magnetic field, and the reliability is poor.

[0004] In addition, for a GNSS receiver with a centering rod, even if the heading angle can be initialized quickly and accurately, when it is inconvenient for personnel to reach the target point, the measurement of the target point cannot be achieved due to the limitation of the length of the centering rod

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