An odometer-assisted vehicle dynamic alignment method

A technology for odometers and auxiliary vehicles, which is applied in the directions of measuring distance, instruments, surveying and navigation, etc. It can solve the problems of stationary vehicles, meet the needs of driving and navigation, improve the maneuverability of vehicles, and improve the speed and flexibility sexual effect

CN108180925BActive Publication Date: 2020-09-01TIANJIN NAVIGATION INSTR RES INST
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2020-09-01

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Abstract

The invention relates to a speedometer-assisted vehicle-mounted dynamic alignment method. The method is technically characterized by comprising steps as follows: in an inertial navigation system, inertial navigation calculation is performed, and attitude heading, speed and position information is output and updated; mileage decomposition is performed by use of an attitude angle of vehicle displacement increment output and inertial navigation calculation of a speedometer, and speedometer navigation position calculation is completed; an error model of the inertial navigation system and an errormodel of navigation position calculation are taken as equations of propagation of an error state, an attitude angle error of the inertial navigation system is estimated and calibrated by use of a Kalman filter. Deep integration is performed through the Kalman filter by use of displacement increment information provided by the vehicle-mounted speedometer and gyroscope and accelerator data providedby an inertial measurement assembly, in the running process of a vehicle, a combined navigation technology of accurate alignment of attitude heading and correction function of position errors is completed, the starting process of the vehicle-mounted navigation system can be simplified, the reaction time is shortened and the maneuvering characteristics of a carrying vehicle are improved.
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Description

technical field

[0001] The invention belongs to the technical field of land vehicle navigation, in particular to an odometer-assisted vehicle dynamic alignment method. Background technique

[0002] A land vehicle navigation system generally consists of an inertial measurement unit and an odometer. The inertial measurement unit consists of three gyroscopes and three accelerometers, which are sensitive to carrier angle increments and velocity increments; the odometer measures the displacement increments of the vehicle. The inertial measurement unit constitutes the inertial navigation system, and the navigation calculation can be performed after the initial position of the bookbinding is aligned. The inertial navigation system can also be combined with the odometer to form a vehicle dead reckoning system, which can decompose the displacement increment measured by the vehicle odometer through the attitude and heading of the inertial navigation system, so as to complete the vehi...

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Embodiment Construction

[0023] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0024] An odometer-assisted vehicle dynamic alignment method, implemented in a vehicle navigation system including an inertial measurement unit and an odometer, which uses the angular increment and velocity increment output of the inertial measurement unit to perform inertial navigation calculation; the vehicle using the odometer The displacement incremental output and the attitude angle calculated by the inertial navigation are decomposed into mileage to complete the dead reckoning; then using the Kalman filter, the error model of the inertial navigation system and the error model of the dead reckoning are used as the propagation equation of the error state, and the The attitude angle error of the inertial navigation system is estimated and calibrated. Specifically include the following steps:

[0025] Step 1. In the inertial navigation syste...