Odometer parameter calibration method based on single position datum point

Abstract

The invention relates to a speedometer parameter calibration method based on a single position reference point, which is technically characterized by comprising the following steps of: 1, establishing a model according to speedometer calibration parameters, and converting a speedometer signal from a speedometer coordinate system to an inertial navigation equipment coordinate system; 2, correcting a pure inertial navigation calculation position according to a pure inertial navigation calculation result and a positioning error calculation result; and step 3, calculating speedometer calibration parameters according to a pure inertial navigation calculation position correction result and a speedometer pushing calculation result. The vehicle-mounted odometer parameter calibration method is reasonable in design, high-precision positioning precision is achieved through a pure inertial navigation calculation and position correction method, the vehicle-mounted odometer parameter calibration method has the short-time high-precision positioning capacity of an inertial navigation system, the odometer parameter calibration function is achieved, parameter calibration of a vehicle-mounted odometer can be completed only through one position datum point, and the vehicle-mounted odometer parameter calibration method is high in practicability. The method has the characteristics of high precision, high universality, convenience in implementation and the like.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation and relates to the testing of inertial navigation devices, in particular to a method for calibrating parameters of an odometer based on a single-position reference point. Background technique [0002] The combination of land-use inertial navigation system and history meter can realize high-precision positioning and orientation functions. In the combination process, the parameters of the odometer need to be converted to the navigation coordinate system, and the error parameters of the odometer need to be accurately calibrated in advance during the conversion process. The existing odometer parameter calibration methods mostly use two position reference points, starting from the first reference point and ending at the second reference point. Since the calibration path is limited, long-distance reference points need to be arranged in advance. The docking reference point has high requireme...

AI Technical Summary

Problems solved by technology

The existing odometer parameter calibration methods mostly use two position reference points, starting from the first reference point and ending at the second reference point. Since the calibration path is limited, long-distance reference points need to be arranged in advance. The requirements for docking reference points are high, and the fast and convenient calibration function of odometer parameters cannot be realized

Images