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.