An initialization method for an integrated navigation device, an integrated navigation device, and a computer-readable medium

Abstract

The invention relates to an initialization method of an integrated navigation device, which includes: randomly selecting a fixed point on the ground surface; placing the integrated navigation device on a level ground to obtain the zero bias value of the sensor module; picking up the combined navigation device After the navigation device is left still, the initial value of each parameter of the sensor module is obtained; the combined navigation device is placed in a plurality of different locations, and the fixed point is aimed at the fixed point in a plurality of different postures to obtain the corresponding A plurality of estimated parameters of the sensor module, a plurality of distance values ​​between the measurement point and the fixed point; obtain the coordinate value of the measurement point solved by the GNSS module; calculate the sensor according to the parameters, distance values ​​and coordinate values ​​obtained above The error value of the module, so that the user can achieve high-precision tilt measurement of long-distance target points without directly touching the target when working outdoors.

Description

technical field [0001] The present invention relates to the technical field of satellite navigation, and in particular, to an initialization method of an integrated navigation device, an integrated navigation device for executing the method, and a computer-readable medium. Background technique [0002] Traditional GNSS (Global Navigation Satellite System, Global Navigation Satellite System, it refers to all satellite navigation systems, including global, regional and enhanced, such as GPS in the United States, Glonass in Russia, Galileo in Europe, Beidou in China Although the satellite navigation system and related enhancement systems) receivers meet the centimeter-level positioning accuracy, they need to be leveled on the center pole level bubble before they can be measured. The vertical requirement of the center pole makes the work efficiency relatively low. In order to realize the tilt measurement of the GNSS receiver, an angle measurement system is required, and most 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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