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Vehicle-mounted GNSS/INS/odometer combined navigation method

A technology of integrated navigation and integrated navigation system, which is applied in the field of vehicle-mounted GNSS/INS/odometer integrated navigation, can solve the problem that the lever arm between INS and odometer is not suitable for measurement, and achieve the effect of reducing dependence and increasing universality

Pending Publication Date: 2022-03-01
NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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Problems solved by technology

[0004] The problem to be solved by the present invention is to propose a vehicle-mounted GNSS / INS / odometer integrated navigation method for the dependence on GNSS in the GNSS / INS loose integrated navigation system. Make full use of the non-integrity constraints of vehicle motion, and estimate the lever arm as a Kalman filter state quantity

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  • Vehicle-mounted GNSS/INS/odometer combined navigation method
  • Vehicle-mounted GNSS/INS/odometer combined navigation method
  • Vehicle-mounted GNSS/INS/odometer combined navigation method

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Embodiment Construction

[0046] The present invention will be further described below in combination with specific embodiments and accompanying drawings.

[0047] A kind of GNSS / INS / odometer integrated navigation method, comprises the following steps:

[0048] (1) Establish the Kalman filter model of the GNSS / INS / odometer integrated navigation system including the lever arm effect;

[0049] (2) Use the output of GNSS and odometer, and the non-integrity constraints of the vehicle to perform Kalman filter prediction and update for external observations, and estimate the state vector of the lever-arm effect error.

[0050] The specific method of step (1) is:

[0051] (101) On the basis of the 15-dimensional state vector y of the Kalman filter of the GNSS / INS loosely integrated navigation system, the state vector L of the Kalman filter with the lever-arm effect is added, and the state vector of the Kalman filter including the lever-arm effect is obtained as :x=[y,L]. Where y is a state vector including p...

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Abstract

The invention discloses a vehicle-mounted GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) / odometer integrated navigation method, belonging to the field of integrated navigation. The method comprises the following steps: firstly, establishing a Kalman filtering model of a GNSS / INS / odometer integrated navigation system containing a lever arm effect; and then Kalman filtering prediction and updating are carried out for external observation by using the output of the GNSS and the speedometer and the non-integrity constraint of the vehicle, and a state vector of a lever arm effect error is estimated. According to the method, the precision and the autonomous ability of the integrated navigation system under adverse GNSS observation conditions are enhanced, and the lever arm between the INS and the odometer does not need to be determined in advance, so that the measurement process of the lever arm before navigation is avoided, the problem of real-time change of lever arm errors caused by carrier vibration in the navigation process can be effectively compensated, and the navigation accuracy is improved. And the method is universal to different vehicles.

Description

technical field [0001] The invention relates to the field of integrated navigation, in particular to a vehicle-mounted GNSS / INS / odometer integrated navigation method. Background technique [0002] When the number of visible satellites is not less than four and the satellite observation conditions are good, GNSS can obtain reliable position, speed, and time information, and the error does not accumulate over time. The disadvantages are no attitude information, low output frequency, and are susceptible to external electromagnetic environment interference and building Objects and other occlusion, resulting in failure to work properly. INS has complete autonomy. After initialization, it can output position, information, and attitude at a high frequency without external interference. The disadvantage is that errors accumulate over time and cannot work independently for a long time. GNSS and INS have good complementarity, and the combination of the two can provide more accurate a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01S19/45G01S19/47G01S19/39
CPCG01C21/20G01C21/165G01C21/1652G01S19/45G01S19/47G01S19/393Y02T10/40
Inventor 秦超张硕黄元庆张振江王一涣董江伟
Owner NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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