3 results about "Holonomic constraints" patented technology

There is provided an information processing apparatus, an information processing method, and a program capable of estimating an azimuth of a mobile object that is moving by an inertial measurement unit (IMU) alone with high accuracy. At least one of an acceleration and a velocity of a mobile object in a reference coordinate system is calculated on the basis of inertial navigation calculation, at least one of an acceleration and a velocity of the mobile object coordinate system that is a coordinate system of the mobile object is calculated from at least one of the acceleration and the velocity of the reference coordinate system, and a rotation component or an absolute azimuth is specified on the basis of at least one of the acceleration and the velocity of the mobile object coordinate system and reference information of at least one of an acceleration and a velocity serving as a non-holonomic constraint condition that constrains a degree of freedom of at least one of six axes related to an attitude and a velocity of the mobile object. The present disclosure can be applied to an inertial navigation system.

This invention discloses an online estimation method and system for the installation angle of a combined navigation system based on BeiDou PPP-B2b, belonging to the field of navigation and positioning services. The method includes: constructing a high-precision position increment using carrier phase time difference observations and converting it into velocity observations; introducing a combined navigation filtering model and combining it with non-holonomic constraints to achieve online estimation and dynamic compensation of the installation angle; designing a sliding window data storage and convergence state discrimination method to analyze the convergence of the installation angle; and correcting the original IMU data after updating. This effectively improves the positioning accuracy and continuity in environments with limited or intermittent GNSS availability, such as tunnels, mountains, and deserts. This invention is applicable to vehicle navigation and unmanned system positioning scenarios in areas with no network coverage or weak infrastructure, effectively overcoming the limitations of traditional methods in terms of strong dependence on installation angle, constraint failure, and insufficient adaptability to weak infrastructure environments.

This invention belongs to the field of integrated navigation technology, specifically relating to a non-holonomic constraint-assisted SINS / EML integrated navigation method, program, device, and storage medium. This invention utilizes measurement information from accelerometers and strapdown inertial navigation systems to calculate the ship's lateral acceleration and determine its motion state. For ships in a straight-ahead state, it fully leverages the strapdown inertial navigation calculation information and non-holonomic constraint methods to extract electromagnetic log measurement information, expanding the ship's bow-stern one-dimensional velocity to three dimensions before performing integrated navigation filtering, thus improving the accuracy of the electromagnetic log-assisted strapdown inertial navigation system. For ships in a maneuvering state, it reconstructs the measurement equations based on the electromagnetic log measurement characteristics, reducing the impact of ship sideslip on navigation accuracy. This invention requires no additional equipment, has certain engineering application value, and is applicable to the field of electromagnetic log speed-assisted strapdown inertial navigation technology.