一种里程计 / 双天线GNSS空间在线标定方法
The online calibration of odometers and dual-antenna GNSS by using the Kalman filtering method solves the problem of inconsistency between the relative positioning odometer and the GNSS reference coordinate system, and realizes fast and convenient attitude alignment and installation deflection calculation, which is applicable to various types of odometers.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SOUTHEAST UNIV
- Filing Date
- 2022-11-22
- Publication Date
- 2026-07-17
AI Technical Summary
In existing technologies, the relative positioning odometer and the reference coordinate system of the dual-antenna GNSS are inconsistent, resulting in non-fixed heading deviation and boom error, which leads to insufficient orientation accuracy and a lack of effective online calibration methods.
By employing the Kalman filtering method and selecting the initial attitude error and the lever arm as state variables, state equations and measurement equations are established to perform attitude alignment and installation deflection calculations, thereby achieving online calibration of the odometer and dual-antenna GNSS.
It enables fast and convenient online spatial calibration of odometers and dual-antenna GNSS, solves the problems of inconsistency in reference coordinate systems and heading deviation, is applicable to various odometer types, and supports initial alignment under single-antenna GNSS conditions.
Smart Images
Figure CN115790652B_ABST