CN106370182A - Personal integrated navigation method - Google Patents
Personal integrated navigation method Download PDFInfo
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- CN106370182A CN106370182A CN201610798753.0A CN201610798753A CN106370182A CN 106370182 A CN106370182 A CN 106370182A CN 201610798753 A CN201610798753 A CN 201610798753A CN 106370182 A CN106370182 A CN 106370182A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention relates to a personal integrated navigation method. The personal integrated navigation method is implemented by a personal integrated navigation system worn on a user and comprises the following steps: performing attitude analysis through a central processing unit of the system according to output data of inertial navigation units, namely a three-axis accelerometer, a three-axis gyroscope and a three-axis electronic compass; performing step identification and calculating step number; calculating the wearing course difference and the average step length; filtering satellite navigation data. The personal integrated navigation method provided by the invention has the benefits that the inertial navigation under the situation that a satellite signal is shielded is realized; through arranging a compass calibration switch, the calibration switch is closed in a place far away from strong magnetic interference for calibration, so that the impact of the strong magnetic interference on the calibration of the three-axis electronic compass can be effectively avoided; the satellite navigation data is filtered by adopting inertial data from a course angle and distance, so that the problems of satellite positioning yaw, point jumping and the like can be effectively solved, and meanwhile, the problem of serious satellite positioning data drift when the user is still or moves at a low speed can be effectively solved.
Description
Technical field
The present invention relates to communication and navigation field and in particular to a kind of using be worn on user by satellite navigation module
The method navigated with the personal integrated navigation system of inertial navigation unit composition.
Background technology
Domestic at present can have gps and the Big Dipper in the satellite fix mode using, and must be placed antenna using satellite fix
In the place having satellites in view, that is, block the position that seriously can not receive stronger satellite-signal.If thus determining single
Pure using satellite come positioning mode will be unable to realize in special areas such as inside buildings, underground parking, culvert, tunnel, mines
Orientation problem because blocking than more serious region it may appear that losing the feelings that star even can not receive any satellite-signal at these
Condition.And satellite fix also haves such problems as hop, cannot determine that kinestate, low-speed motion positioning precision are low.
Inertial navigation refers to measure the acceleration of carrier itself using inertance elements such as accelerometers, through integrating and transporting
Calculation obtains speed and position, thus reaching the purpose to carrier navigator fix.The equipment of composition inertial navigation system is all installed
Internal in delivery, it is independent of external information during work, also not outwardly emittance, be not easily susceptible to disturb, be a kind of autonomous type
Navigation system.Inertial navigation system is generally made up of inertial measuring unit, computer, control display etc..Inertial measuring unit
Including accelerometer and gyroscope, also known as Inertial Measurement Unit.3 degree of freedom gyroscopes are used for measuring 3 rotations of carrier
Motion；The accelerometer of 3 degree of freedom is used for measuring the acceleration of 3 translational motions of carrier.Computer is according to recording
Acceleration signal calculates speed and the position data of carrier.It is independent of external information due to when inertial navigation system works,
Also not outwardly emittance, therefore, inertial navigation can solve the problem that the problems referred to above, but required precision higher to inertia device
Performance requirement is also higher, and cost is also higher.
Content of the invention
In order to improve the precision of satellite fix and realize navigator fix in the case that blocking occurs in satellite-signal, this
Invention proposes a kind of Combinated navigation method, using be worn on user by satellite navigation module and inertial navigation unit (bag
Including accelerometer, gyroscope, electronic compass) the personal integrated navigation system that forms navigated.
For reaching above-mentioned purpose, the present invention adopts the following technical scheme that
A kind of Combinated navigation method, is realized by the personal integrated navigation system being worn on user, methods described includes
Following steps:
Step 1, the CPU of described system is three axis accelerometer, three-axis gyroscope according to inertial navigation unit
Carry out attitude parsing with the output data of three axle electronic compass, obtain the angle of pitch, the roll of described systemic vectors (user)
Angle, course angle；
Step 2, carries out taking a step to identify and calculating step number according to the vertical axises output data of three axis accelerometer；
Step 3, the output data according to satellite navigation module and inertial navigation unit calculates wears heading crossing angle and average step
Long, thus obtaining inertial navigation data；
Step 4, is filtered to satellite navigation data using inertial navigation data.
Further, methods described is additionally included in the method before described attitude parsing, three axle electronic compass calibrated
As follows:
In the local closure away from strong magnetic disturbance, compass calibration switch on the system is installed, by described system along three
Individual axle positive, reversely turn respectively three weeks, the maximum of collection three axles of three axle electronic compass output and minima, according to maximum
The meansigma methodss of value and minima are calibrated to three axle electronic compass, and calibration disconnects compass calibration switch after finishing.If compass school
Quasi- switch be currently at off-state and last using being closure state during described system, calculate respectively three axles skew and
Proportionality coefficient (proportionality coefficient=actual value/value of calculation) simultaneously preserves result of calculation；If compass calibration switch is currently at disconnection shape
State and last using being also off-state during described system, then do not carry out described process.
Further, the output data according to inertial navigation unit carries out the method for attitude parsing and includes:
The angle of pitch of the output data resolving system carrier according to three axis accelerometer and three-axis gyroscope and roll angle；Right
The component that the data of three axles of three axle electronic compass output carries out pitching, roll process obtains in horizontal direction, according to level
Component computing system course angle.
Further, carry out taking a step knowing method for distinguishing and include: calculate three axis accelerometer vertical axises output data flat
Average, if in user's walking process, the vertical axises output data of three axis accelerometer becomes smaller than institute by more than described meansigma methodss
State meansigma methodss, then judge that user passes by a step.
Further, calculate and wear the method for heading crossing angle, average step length and inertial navigation data and include:
When satellite navigation signals are normal, according to the output of satellite navigation module, with one of walking process anchor point it is
Starting point, when the distance between starting point and current anchor point are more than the threshold value setting, calculates by starting point to current anchor point direction
Angle obtains the course angle of satellite navigation module determination.Preserve start point data, the output signal according to inertial navigation unit is every δ t
Second calculate the step number passed by the course angle of a current time and this δ t second and preserved, when starting point and current anchor point
The distance between more than set threshold value when, calculate obtained by the deflection of starting point to current anchor point true by inertial navigation unit
Fixed course angle.The course angle being determined by inertial navigation unit and the difference of the course angle being determined by satellite navigation module is asked to be worn
Wear heading crossing angle.
According to the distance of starting point and current anchor point, and the course angle by starting point to current anchor point that preserves and step number
It is averaging step-length.
Seek course angle and course angle that is wearing heading crossing angle and obtaining in inertial navigation data, be averaging step-length and step number
The long-pending distance obtaining in inertial navigation data.
Further, method satellite navigation data being filtered includes: satellite navigation data is included by two neighboring
The distance between the course angle of anchor point determination and this two anchor points.Ask satellite navigation data and inertial navigation data respectively
Course angular difference and range difference, if course angular difference and range difference are respectively less than the error threshold setting, send satellite navigation data；No
Then, send inertial navigation data.
Compared with prior art, the method have the advantages that
The present invention is by being arranged on the inertial navigation unit on personal integrated navigation system it is achieved that satellite-signal hides
Inertial navigation in the case of gear.By arranging compass calibration switch, carry out in the local closure calibration switch away from strong magnetic disturbance
Calibration, calibration finishes the described switch of disconnection, makes the data that three axle electronic compass collects not enter back into calibration process, can be effective
Strong magnetic disturbance is avoided to calibrate impact to three axle electronic compass.Using inertial data from course angle and apart to satellite navigation data
Filtered, can efficiently solve satellite fix driftage, hop the problems such as, can effectively solve the problem that simultaneously user's transfixion or
Satellite location data drift serious problem during low-speed motion.
Brief description
Fig. 1 is the composition frame chart of personal integrated navigation system；
Fig. 2 is the flow chart of the method for the invention；
Fig. 3 is to wear heading crossing angle schematic diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
The embodiment of the present invention provides a kind of individual's Combinated navigation method, by the personal integrated navigation system being worn on user
System is realized, and the composition frame chart of described system is as shown in figure 1, described system includes: CPU, with CPU phase
Satellite navigation module even and inertial navigation unit, inertial navigation unit includes.The flow chart of methods described is as shown in Figure 2.Institute
The method of stating includes three axis accelerometer, three-axis gyroscope and three axle electronic compass.CPU is according to inertial navigation unit
I.e. the output data of three axis accelerometer, three-axis gyroscope and three axle electronic compass carries out attitude parsing, obtains described system and carries
The angle of pitch of body, roll angle, course angle；Carry out taking a step to identify and calculating step according to the vertical axises output data of three axis accelerometer
Number；Output data according to satellite navigation module and inertial navigation unit calculates and wears heading crossing angle and average step length, thus obtaining
Inertial navigation data；Using inertial navigation data, satellite navigation data is filtered.
Because the intensity in different region earth's magnetic fields is in different size, also there is difference in the direction in earth's magnetic field with the angle of earth's surface
Not, as in Southern Hemisphere earth magnetism upwards partially, earth magnetism downward bias on the Northern Hemisphere, therefore user need to local three axle electronic compass ginseng
Number is calibrated.For this reason, the present invention provides another embodiment, before the parsing of described attitude, school is carried out to three axle electronic compass
Accurate step, method is as follows:
The present embodiment adopts a compass calibration switch to control electronic compass calibration process, in the place away from strong magnetic disturbance
Closure installs compass calibration switch on the system, and the geomagnetic data of now three axle electronic compass collection is regarded as effectively
's.Then by described system respectively along positive, reverse each turn three weeks of three axles, the three axles outputs of collection three axle electronic compass
Maximum and minima, calibrate to three axle electronic compass according to the meansigma methodss of maximum and minima, and calibration is disconnected after finishing
Cairo disk calibration switch.If compass calibration switch is currently at off-state and last using during described system is closed form
State, calculates the skew of three axles and proportionality coefficient respectively and preserves result of calculation；If compass calibration switch is currently at disconnection shape
State and last using being also off-state during described system, then do not carry out described process.After so compass calibration switch disconnects
The data that three axle electronic compass collects will not enter calibration process, can effectively eliminate the shadow to calibration accuracy for the strong magnetic disturbance
Ring.
The method carrying out attitude parsing as an alternative embodiment of the invention, the output data according to inertial navigation unit
Including:
The angle of pitch of the output data resolving system carrier according to three axis accelerometer and three-axis gyroscope and roll angle；Right
The component that the data of three axles of three axle electronic compass output carries out pitching, roll process obtains in horizontal direction, according to level
Component computing system course angle.
As an alternative embodiment of the invention, carry out taking a step knowing method for distinguishing and include: calculate hanging down of three axis accelerometer
The meansigma methodss of d-axis output data, if in user's walking process, the vertical axises output data of three axis accelerometer is by more than described
Meansigma methodss become smaller than described meansigma methodss, then judge that user passes by a step.
The principle that the present embodiment identification is taken a step: in Level Walking motion, vertical and two acceleration that advance present user
Cyclically-varying, receives in the action of foot in walking, single foot contacts to earth center of gravity upwards, and vertical direction acceleration is to increase in positive
Trend.Continue forward afterwards, decentralization bipod bottoms out, and acceleration is contrary.Horizontal acceleration reduces when receiving foot, when taking a step
Increase.In walking movement, the vertical and acceleration producing that advances can approximate representation be a sine curve with the relation of time,
Near the peak point of curve, the acceleration change of vertical direction is maximum, in peak point adnexa, the acceleration of the point before peak point
Degree is more than average acceleration, and the acceleration of the later point of peak point is less than average acceleration.Therefore, the identification of taking a step of the present embodiment
It is to detect by peak point to realize.
As an alternative embodiment of the invention, calculate the method wearing heading crossing angle, average step length and inertial navigation data
Including:
Heading crossing angle is worn in calculating: because the mode that user wears personal integrated navigation system is different, leads to personal combination to be led
Exist between course angle that boat system calculates and user's true course and certain wear heading crossing angle.Fig. 3 is to wear course differential
It is intended to, the method that heading crossing angle is worn in calculating is as follows: when satellite navigation signals are normal, according to the output of satellite navigation module, with row
Walking one of process anchor point is starting point, when the distance between starting point and current anchor point are more than the threshold value setting, calculates
Obtain the course angle of satellite navigation module determination by starting point to current anchor point deflection.Preserve start point data, led according to inertia
The output signal of boat unit calculates, every the δ t second, the step number passed by the course angle of current time and this δ t second and carries out
Preserve, when the distance between starting point and current anchor point are more than the threshold value setting, calculate by the side of starting point to current anchor point
Obtain the course angle being determined by inertial navigation unit to angle.Seek the course angle being determined by inertial navigation unit and by satellite navigation mould
The difference of the course angle that block determines obtains wearing heading crossing angle.
Calculate average step length: according to the distance of starting point and current anchor point, and preservation by starting point to current anchor point
Course angle and step number be averaging step-length.
Calculate inertial navigation data: seek course angle and course angle that is wearing heading crossing angle and obtaining in inertial navigation data,
It is averaging the long-pending distance obtaining in inertial navigation data of step-length and step number.
Due to satellite fix precision itself not high and also without reference to etc. reason, satellite navigation data can be within the specific limits
Drift, even if in transfixion, location data also can fluctuate back and forth, for this reason, the present invention provides another embodiment, to satellite
Navigation data is filtered, and the method for filtration includes: satellite navigation data includes the course angle being determined by two neighboring anchor point
The distance between with this two anchor points.Ask course angular difference and the range difference of satellite navigation data and inertial navigation data respectively,
If course angular difference and range difference are respectively less than the error threshold setting, illustrate that satellite navigation data is accurate, directly transmit and defend
Star navigation data；Otherwise, illustrate that the error of satellite navigation data is larger, send inertial navigation data.Respectively from course and distance
On satellite navigation data is filtered, can efficiently solve satellite fix driftage, hop the problems such as, can effectively solve simultaneously
The problem that certainly during transfixion, satellite navigation data drifts about back and forth.
The invention is not restricted to above-mentioned embodiment, made any to above-mentioned embodiment aobvious of those skilled in the art and
The improvement being clear to or change, all without beyond the design of the present invention and the protection domain of claims.
Claims (6)
1. a kind of individual's Combinated navigation method, by the personal integrated navigation system realization being worn on user it is characterised in that
Methods described includes: the CPU of described system is three axis accelerometer, three-axis gyroscope according to inertial navigation unit
Carry out attitude parsing with the output data of three axle electronic compass, obtaining described systemic vectors is the angle of pitch of user, roll
Angle, course angle；Carry out taking a step to identify and calculating step number according to the vertical axises output data of three axis accelerometer；According to satellite navigation
The output data of module and inertial navigation unit calculates and wears heading crossing angle and average step length, thus obtaining inertial navigation data；Profit
With inertial navigation data, satellite navigation data is filtered.
2. individual's Combinated navigation method according to claim 1 is it is characterised in that methods described is additionally included in described attitude
The step before parsing, three axle electronic compass calibrated, method is as follows:
In the compass calibration switch on the system of the local closure installation away from strong magnetic disturbance, by described system along three axles
Positive, reversely turn respectively three weeks, the maximum of collection three axles of three axle electronic compass output and minima, according to maximum and
The meansigma methodss of minima are calibrated to three axle electronic compass, and calibration disconnects compass calibration switch after finishing；If compass calibration is left
Pass is currently at off-state and last using during described system is closure state, calculates skew and the ratio of three axles respectively
Coefficient simultaneously preserves result of calculation；If compass calibration switch is currently at off-state and last using during described system is also disconnected
Open state, then do not carry out described process.
3. individual's Combinated navigation method according to claim 1 is it is characterised in that output number according to inertial navigation unit
Include according to the method carrying out attitude parsing:
The angle of pitch of the output data resolving system carrier according to three axis accelerometer and three-axis gyroscope and roll angle；To three axles
The component that the data of three axles of electronic compass output carries out pitching, roll process obtains in horizontal direction, according to horizontal component
Computing system course angle.
4. individual's Combinated navigation method it is characterised in that carry out according to claim 1 is taken a step to know method for distinguishing and is included:
Calculate three axis accelerometer vertical axises output data meansigma methodss, if in user's walking process, three axis accelerometer vertical
Axle output data becomes smaller than described meansigma methodss by more than described meansigma methodss, then judge that user passes by a step.
5. individual's Combinated navigation method according to claim 1 wears heading crossing angle, average step length it is characterised in that calculating
And the method for inertial navigation data includes:
When satellite navigation signals are normal, according to the output of satellite navigation module, with one of walking process anchor point as starting point,
When the distance between starting point and current anchor point are more than the threshold value setting, calculate and obtained by the deflection of starting point to current anchor point
The course angle determining to satellite navigation module；Preserve start point data, the output signal according to inertial navigation unit was counted every the δ t second
Calculate the step number passed by the course angle of a current time and this δ t second and preserved, between starting point and current anchor point
Distance when being more than the threshold value setting, calculate and obtain being determined by inertial navigation unit by the deflection of starting point to current anchor point
Course angle；The course angle being determined by inertial navigation unit and the difference of the course angle being determined by satellite navigation module is asked to obtain wearing boat
To difference；
According to the distance of starting point and current anchor point, and the course angle by starting point to current anchor point preserving and step number ask flat
All step-lengths；
Seek course angle and course angle that is wearing heading crossing angle and obtaining in inertial navigation data, be averaging step-length with step number long-pending
Distance in inertial navigation data.
6. individual's Combinated navigation method according to claim 1 is it is characterised in that filtered to satellite navigation data
Method includes: satellite navigation data include between the course angle being determined by two neighboring anchor point and this two anchor points away from
From；Ask course angular difference and the range difference of satellite navigation data and inertial navigation data respectively, if course angular difference and range difference are equal
Less than the error threshold setting, send satellite navigation data；Otherwise, send inertial navigation data.
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| CN108592861A (en) * | 2018-04-26 | 2018-09-28 | Oppo广东移动通信有限公司 | Direction sensor optimization method, device, storage medium and terminal device |
| CN108917756A (en) * | 2018-06-12 | 2018-11-30 | 四川斐讯信息技术有限公司 | A kind of course estimation method and system |
| CN109313253A (en) * | 2017-05-26 | 2019-02-05 | 苏州宝时得电动工具有限公司 | Mobile object and its localization method, automatic working system, storage medium |
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| CN112344933A (en) * | 2020-08-21 | 2021-02-09 | 北京京东乾石科技有限公司 | Information generation method and device and storage medium |
| CN113900133A (en) * | 2021-11-17 | 2022-01-07 | 智道网联科技(北京)有限公司 | Target track smoothing method and device, electronic equipment and storage medium |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 102300 Room 501, 7 building, No. 98, Lin Shi Hu West Road, Mentougou District, Beijing. Applicant after: Beidou Space-time Information Technology Research Institute (Beijing) Co., Ltd. Applicant after: Zhang Guochuan Address before: 102300 Lian Shi Hu West Road, Mentougou District, Beijing, 7, building 501, 98. Applicant before: Beidou time and space information technology (Beijing) Co., Ltd. Applicant before: Zhang Guochuan |