Inertial Positioning Pose Realignment for GPS-Denied Navigation
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Solution Overview
Problem
Global Positioning System (GPS) inaccuracies in environments like mines or tunnels lead to errors in positioning and orientation due to inertial measurement unit (IMU) errors such as zero offset or random walk, which accumulate over time, reducing accuracy.
Innovation Solution
A positioning and orientation method that replaces a second pose with a third pose obtained through initial alignment, using inertial navigation with IMU, and incorporates initial alignment to correct errors, allowing for improved accuracy without external devices when the object is static or moving slowly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If inertial navigation is used to obtain position and pose information in GPS-denied environments, then positioning and orientation can be provided without external devices, but accuracy deteriorates over time due to IMU error accumulation
Solution Approach 1:
The system performs periodic initial alignment operations to recalibrate the IMU pose information. When the object is stationary or moving slowly, the system executes initial alignment to obtain updated pose information, replacing the accumulated error-prone pose data. This periodic recalibration cycle resets the error accumulation clock while maintaining continuous positioning capability during motion.
Solution Approach 2:
The system performs initial alignment as a preliminary action before resuming inertial navigation. By completing the alignment procedure while the object is stationary or moving slowly, the system prepares accurate pose information in advance, which then serves as a fresh reference point for subsequent navigation, preventing error accumulation from carrying forward.
2Measurement precision
If initial alignment is performed to correct IMU errors, then positioning and orientation accuracy is improved, but time is lost due to the alignment process
Solution Approach 1:
The system dynamically adjusts its operation mode based on the object's motion state. When the object is stationary or moving slowly, the system transitions to initial alignment mode to improve accuracy. When the object moves quickly, the system switches to continuous inertial navigation mode to minimize time loss. This dynamic switching optimizes the balance between accuracy improvement and time efficiency.
Solution Approach 2:
The system changes the operational parameters of the IMU based on motion state. During stationary or slow movement, the system enables the initial alignment process with appropriate integration times. During fast movement, the system adjusts parameters to prioritize continuous navigation with reduced alignment overhead, effectively managing the time-accuracy tradeoff through parameter adaptation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances positioning and orientation accuracy by correcting IMU errors through initial alignment, reducing reliance on external devices and minimizing time-dependent errors, thus improving precision in GPS-deprived environments.
Implementation Method 1
an inertial measurement unit (IMU) may obtain an angular velocity and an acceleration of the object. The acceleration may be used to calculate displacement information of the object relative to an initial position. The angular velocity may be used to calculate pose change information of the object relative to an initial pose.
Implementation Method 2
The device obtains a third pose of the object through initial alignment
Implementation Method 3
The IMU may obtain an angular velocity and an acceleration of the object
Data Source
AI summary
A method includes the following steps: obtaining a first status of an object, where the first status includes a first position and a first pose; obtaining a second status of the object through inertial navigation by using the first status as a start point, where the second status includes a second position and a second pose; obtaining a third pose of the object through initial alignment; and providing inertial navigation for the object by using the third pose and the second position as a start point. A positioning and orientation apparatus and a positioning and orientation device are further provided. The second pose is replaced with the third pose obtained through initial alignment.