A heading information determination method and apparatus

Abstract

The application discloses a heading information determination method, which comprises the following steps: utilizing a rotation mechanism built in a strapdown inertial navigation system, and according to a preset rotation sequence of a fixed period, performing rotation adjustment on a prism normal of an inertial measurement unit of the strapdown inertial navigation system; utilizing a real-time prism normal of the inertial measurement unit to correct a posture matrix collected by the strapdown inertial navigation system and a speed collected by an odometer; and taking the corrected posture matrix and the corrected speed as heading information. Thus, the rotation modulation of a gyroscope and an accelerometer can be realized by utilizing the rotation mechanism built in the strapdown inertial navigation system, a long-time heading keeping method of a vehicle-mounted inertial / odometer based on the rotation modulation is realized, the constant error source except for the axial (rotation axis direction) error can be automatically offset, the long-time heading precision of the system is improved, and the heading information precision is improved.

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