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In classical mechanics, holonomic constraints are relations between the position variables (and possibly time) which can be expressed in the following form: f(q₁,q₂,q₃,…,qₙ,t)=0 where {q₁,q₂,q₃,…,qₙ} are the n coordinates which describe the system. For example, the motion of a particle constrained to lie on the surface of a sphere is subject to a holonomic constraint, but if the particle is able to fall off the sphere under the influence of gravity, the constraint becomes non-holonomic.
A method and system for online estimation of installation angle based on combination navigation of Beidou PPP-B2b
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.
Owner:WUHAN UNIV +1