CN106767894B - A kind of Beidou for inertial navigation/odometer combination scaling method - Google Patents
A kind of Beidou for inertial navigation/odometer combination scaling method Download PDFInfo
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- CN106767894B CN106767894B CN201510809922.1A CN201510809922A CN106767894B CN 106767894 B CN106767894 B CN 106767894B CN 201510809922 A CN201510809922 A CN 201510809922A CN 106767894 B CN106767894 B CN 106767894B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The present invention provides a kind of Beidou for inertial navigation/odometer combination scaling method, comprising the following steps: inertial navigation unit is installed on test vehicle by step 1, and initialization preparation and self-test are completed in power-up starting；When step 2, stationary vehicle, initial odometer scale and orientation fix error angle are bound, the location information of bookbinding stop BD2 completes system bookbinding；Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；And step 4, vehicle launch, along selected route running, system demarcates odometer scale and orientation fix error angle by BD2 location information and mileage dead reckoning simultaneously, odometer is demarcated as acquiring odometer pulse in real time, terminal point coordinate is estimated by dead reckoning, and odometer scale and fix error angle is calculated in automatic Calibration；BD2 calibration uses positional information calculation odometer scale and fix error angle.Using combination scaling method of the invention, inertial navigation/BD2/ odometer integrated navigation precision can be improved.
Description
Technical field
The present invention relates to inertial navigation technique field, in particular to one kind can quickly improve inertial navigation precision for victory
Beidou/the odometer for joining inertial navigation combines scaling method.
Background technique
Integrated navigation mainly passes through inertial navigation unit and Beidou II satellite navigation system (hereinafter referred to as BD2)/mileage
Meter combination realizes that Kalman filter combines the rate information that inertia resolves with odometer rate information, carries out error
Estimation and compensation, obtain the navigation informations such as carrier positions, posture and speed.It is comprehensive by position and speed when BD2 signal is effective
Filtering navigation algorithm is closed, realizes system in combination navigation.
Odometer, can auxiliary in BD2 Signal Fail as inertial navigation as a kind of equipment for measuring VMT Vehicle-Miles of Travel
Information source, and can be combined with inertial navigation system and constitute dead reckoning system, avoid the inconvenience of constantly parking correction inertial navigation.In
The constant multiplier of journey meter is one of the key parameter for restricting dead reckoning system precision.Due to by car load, tire wear, filling
The influence of the factors such as atmospheric pressure and temperature, odometer constant multiplier, which exists, gradually to be changed, and must be to this when every subtask starts
Number carries out on-line proving.
When carrying out inertial navigation/BD2/ odometer integrated navigation research, odometer calibration is first usually carried out by preventing test,
Calibration result is calculated: odometer scale and azimuthal error angle, then bookbinding parameter is obtained into inertial navigation system for group
The mileage for closing navigation counts.However the calibration of odometer error when system sport car just starts is larger, system-computed obtains at this time
To mileage count and cannot really reflect the practical mileage number of vehicle.
Summary of the invention
In order to improve inertial navigation/BD2/ odometer integrated navigation precision, the present invention is directed to propose one kind can quickly improve strapdown
The BD2/ odometer of inertial navigation precision combines scaling method.
The high-precision calibrating for realizing odometer parameter, needs accurate position reference.And BD2 can be mentioned in a distance
For highly accurate relative position information, is demarcated when sport car just starts with regard to carrying out the combination of the two, utilize the calibration result of BD2
Constantly amendment odometer calibrated error, reaches high-precision mileage information, to improve integrated navigation precision.
Above-mentioned purpose of the invention realizes that dependent claims are to select else or have by the technical characteristic of independent claims
The mode of benefit develops the technical characteristic of independent claims.
To reach above-mentioned purpose, the present invention proposes a kind of Beidou for inertial navigation/odometer combination scaling method, packet
Include following steps:
Inertial navigation unit is installed on test vehicle by step 1, and initialization preparation and self-test are completed in power-up starting；
When step 2, stationary vehicle, initial odometer scale and orientation fix error angle are bound, binds the position of stop BD2
Confidence ceases the bookbinding of completion system；
Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；
Step 4, vehicle launch, along selected route running, system is believed by (the i.e. Beidou II satellite navigation system) position BD2
Odometer scale and orientation fix error angle are demarcated in breath and mileage dead reckoning simultaneously, wherein odometer is demarcated as acquiring in real time
Odometer pulse estimates terminal point coordinate by dead reckoning, and odometer scale and fix error angle is calculated in automatic Calibration；
BD2 calibration uses positional information calculation odometer scale and fix error angle, and the every traveling about 2km of vehicle is navigated position by mileage respectively
It calculates and BD2 location information demarcates an odometer, by the coordinate value of mileage dead reckoning this moment compared with the location information of BD2
Compared with, if error relative accuracy is greater than 1%, the result update mileage parameter demarcated by BD2 location information, and carry out odometer mark
Degree, established angle amendment, the mileage bookbinding parameter fixed as next segment mark, while using BD2 coordinate value this moment as next section of 2km
The initial position of distance calibration；Above-mentioned calibration process is repeated, until the error relative accuracy that two kinds are demarcated is less than 1%, end is marked
It is fixed, using this mileage scale, fix error angle as The last mile bookbinding parameter, pass through inertial navigation and Beidou/mileage
Meter combination is estimated the output error of inertial navigation by Kalman filter, and constantly amendment exports each navigational parameter, fixed to improve
Position precision.
Compared with prior art, the present invention the advantage is that: on inertial navigation/odometer combination calibration odometer parameter basis
It is upper to joined the calibration of BD2 location information again.The calibration of BD2 location information carries out simultaneously with mileage dead reckoning calibration, and to mileage
Dead reckoning calibration result is constantly corrected, to study high-precision inertial navigation/BD2/ mileage integrated positioning directed navigation system
Provide better support.
The constant multiplier and fix error angle of odometer are the key parameters for restricting dead reckoning system precision.In odometer
BD2 location information is combined to demarcate the amendment demarcated to odometer on the basis of inherent parameters calibration, in performance is better than individually
Journey dead reckoning calibration as a result, simultaneously in the wide scope of unknown fixed coordinates point can be achieved vehicle movement during reality
When demarcate.The method of the present invention passes through the combination of two kinds of scaling methods of BD2 and odometer, realizes high-precision odometer combination mark
It is fixed.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is the Beidou for inertial navigation/odometer combination scaling method stream of some embodiments according to the present invention
Journey schematic diagram.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
It is not intended to cover all aspects of the invention for embodiment of the disclosure.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
As shown in connection with fig. 1, according to an embodiment of the invention, a kind of Beidou for inertial navigation/odometer combination calibration
Method, comprising the following steps:
Inertial navigation unit is installed on test vehicle by step 1, and initialization preparation and self-test are completed in power-up starting；
When step 2, stationary vehicle, initial odometer scale and orientation fix error angle are bound, binds the position of stop BD2
Confidence ceases the bookbinding of completion system；
Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；
Step 4, vehicle launch, along selected route running, system is believed by (the i.e. Beidou II satellite navigation system) position BD2
Odometer scale and orientation fix error angle are demarcated in breath and mileage dead reckoning simultaneously, wherein odometer is demarcated as acquiring in real time
Odometer pulse estimates terminal point coordinate by dead reckoning, and odometer scale and fix error angle is calculated in automatic Calibration；
BD2 calibration uses positional information calculation odometer scale and fix error angle, and the every traveling about 2km of vehicle is navigated position by mileage respectively
It calculates and BD2 location information demarcates an odometer, by the coordinate value of mileage dead reckoning this moment compared with the location information of BD2
Compared with, if error relative accuracy is greater than 1%, the result update mileage parameter demarcated by BD2 location information, and carry out odometer mark
Degree, established angle amendment, the mileage bookbinding parameter fixed as next segment mark, while using BD2 coordinate value this moment as next section of 2km
The initial position of distance calibration；Above-mentioned calibration process is repeated, until the error relative accuracy that two kinds are demarcated is less than 1%, end is marked
It is fixed, using this mileage scale, fix error angle as The last mile bookbinding parameter, pass through inertial navigation and Beidou/mileage
Meter combination is estimated the output error of inertial navigation by Kalman filter, and constantly amendment exports each navigational parameter, fixed to improve
Position precision.
In some optional examples, in step 4, odometer calibration realizes procedure declaration using classical calibration algorithm
As follows: vehicle travels between known two coordinate points along route, the umber of pulse N of record odometer output, between two coordinate points
Distance is S, then odometer constant multiplier are as follows: k=S/N.Odometer speed:Odometer speed is sat in navigation
The expression formula of mark system n: the position differential equation that then odometer calculates are as follows:
Wherein, LL、BL、hLThe respectively longitude of dead reckoning odometer positioning calculation, latitude and height, andThe orientation fix error angle being affected to position error
Wherein, Lx1、Ly1It is vehicle real displacement in the projection components of east orientation and north orientation, calculation formula is as follows:
Lx1=(RN+h)cos La sin(Bb-Ba), Ly1=(RM+h)sin(Lb-La)；
Lx2、Ly2Displacement is calculated in the projection components of east orientation and north orientation for vehicle, and calculation formula is as follows:
Lx2=(RN+h)cos La sin(Bb′-Ba), Ly2=(RM+h)sin(Lb′-La)。
In some embodiments, in step 4, the method for BD2 location information calibration is described as follows: being remembered before vehicle setting in motion
Record the initial value Lat of longitude and latitudeb(i)、Lonb(i) (i=1 ... n), i are the primary counting of every 2km.It is every during vehicle movement
2km records a BD2 location information, using the current value of BD2 longitude and latitude when 2km as the final value LAt used in calculate hereine(i)、
Lone(i) longitude and latitude of BD2 signal is converted to the coordinate value X that can be used for calculating by coordinate transform by (i=1 ... n)b(i)、Yb
(i)、Xe(i)、Ye(i), then the component calculation formula difference of real displacement and calculating displacement in X, Y is as follows:
Wherein Xo(i)、YoIt (i) is BD2 output warp
Latitude value Lato(i)、Lono(i) (i=1 ... n) passes through the actual coordinate value that coordinate is converted to.When vehicle is kept in motion
When, Lato(i)、Lono(i) the longitude and latitude current value of moving vehicle is taken；When a vehicle is at rest, Lato(i)、Lono
(i) the longitude and latitude fixed value of previous moment is taken.Real displacement and the calculation formula difference for calculating displacement are as follows:Constant multiplierWherein k (0) is vehicle setting in motion
The odometer constant multiplier of preceding initial binding.Azimuth γ under real displacement1And it calculates and is displaced lower azimuth γ2Calculation formula
It is as follows respectively:
Orientation fix error angle γ (i)=γ of final every 2km calibration1(i)-γ2(i).Step 6 is repeated, until coordinate essence
Error is spent less than 1 ‰.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (1)
1. a kind of Beidou for inertial navigation/odometer combines scaling method, which comprises the following steps:
Inertial navigation unit is installed on test vehicle by step 1, and initialization preparation and self-test are completed in power-up starting；
When step 2, stationary vehicle, initial odometer constant multiplier and orientation fix error angle are bound, binds the position of stop BD2
Confidence ceases the bookbinding of completion system；
Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；
Step 4, vehicle launch, along selected route running, system demarcates mileage by BD2 location information and mileage dead reckoning simultaneously
Count constant multiplier and orientation fix error angle, in which:
Odometer is demarcated as acquiring odometer pulse in real time, estimates terminal point coordinate by dead reckoning, and automatic Calibration is calculated
Odometer constant multiplier and orientation fix error angle；
BD2 calibration use positional information calculation odometer constant multiplier and orientation fix error angle, the every traveling 2km of vehicle respectively by
Mileage dead reckoning and BD2 location information demarcate an odometer, by the position of the coordinate value of mileage dead reckoning this moment and BD2
Information compares, if error relative accuracy is greater than 1%, updates mileage parameter by the result that BD2 location information is demarcated, and carry out
Odometer constant multiplier, the amendment of orientation fix error angle, the mileage bookbinding parameter fixed as next segment mark, while will this moment
The initial position that BD2 coordinate value is demarcated as next section of 2km distance；Above-mentioned calibration process is repeated, until the error that two kinds are demarcated
Relative accuracy terminates calibration, using this odometer constant multiplier, orientation fix error angle as The last mile less than 1%
Bookbinding parameter is combined with Beidou/odometer by inertial navigation, the output error of inertial navigation is estimated by Kalman filter,
And constantly amendment exports each navigational parameter, to improve positioning accuracy；
In step 4, odometer calibration realizes that process is as follows using classical calibration algorithm:
Vehicle travels between known two coordinate points along route, the umber of pulse N of record odometer output, between two coordinate points away from
From for S, then odometer constant multiplier are as follows: k=S/N；Odometer speed:Odometer speed is in navigation coordinate
It is the expression formula of n:Then:
The position differential equation of odometer are as follows:
Wherein, LL、BL、hLThe respectively longitude of dead reckoning odometer positioning calculation, latitude and height, andThe orientation fix error angle being affected to position errorWherein,
Lx1、Ly1It is vehicle real displacement in the projection components of east orientation and north orientation, calculation formula is as follows:
Lx1=(RN+h)cosLasin(Bb-Ba), Ly1=(RM+h)sin(Lb-La)；
Lx2、Ly2Displacement is calculated in the projection components of east orientation and north orientation for vehicle, and calculation formula is as follows:
Lx2=(RN+h)cosLasin(Bb′-Ba), Ly2=(RM+h)sin(Lb′-La)；
In the step 4, the method for BD2 location information calibration includes:
The initial value Lat of longitude and latitude is recorded before vehicle setting in motionb(i)、Lonb(i) (i=1 ... n), i are the primary counting of every 2km；
Every 2km records a BD2 location information during vehicle movement, using the current value of BD2 longitude and latitude when 2km as calculating herein
Final value Lat usede(i)、Lone(i) (i=1 ... n), being converted to the longitude and latitude of BD2 signal by coordinate transform can be used for counting
The coordinate value X of calculationb(i)、Yb(i)、Xe(i)、Ye(i), then the component calculation formula of real displacement and calculating displacement in X, Y is distinguished
It is as follows:
Wherein, Xo(i)、Yo(i) latitude and longitude value Lat is exported for BD2o(i)、Lono(i) (i=1 ... n) is converted to by coordinate
Actual coordinate value；When vehicle is kept in motion, Lato(i)、Lono(i) the longitude and latitude current value of moving vehicle is taken；Work as vehicle
When remaining static, Lato(i)、Lono(i) the longitude and latitude fixed value of previous moment is taken；
Real displacement and the calculation formula difference for calculating displacement are as follows:
Constant multiplier
Wherein, k (0) is the odometer constant multiplier of initial binding before vehicle setting in motion；
The calculation formula that azimuth γ 1 and calculating are displaced lower azimuth γ 2 under real displacement is distinguished as follows:
Orientation fix error angle γ (i)=γ of final every 2km calibration1(i)-γ2(i)；
This step is repeated to demarcate BD2 location information, until coordinate precision error is less than 1 ‰.
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| CN112284415B (en) * | 2020-10-19 | 2023-01-03 | 株洲菲斯罗克光电科技股份有限公司 | Odometer scale error calibration method, system and computer storage medium |
| CN113074757B (en) * | 2021-04-08 | 2023-08-22 | 北京李龚导航科技有限公司 | Calibration method for vehicle-mounted inertial navigation installation error angle |
| CN114136339B (en) * | 2021-11-29 | 2023-06-20 | 中国船舶重工集团公司第七0七研究所 | Mileage meter parameter calibration method based on unit location datum point |
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| CN114396965A (en) * | 2022-01-17 | 2022-04-26 | 广州导远电子科技有限公司 | Auxiliary calibration method and device for combined navigation unit and electronic equipment |
| CN114683857B (en) * | 2022-03-30 | 2023-05-12 | 东风汽车集团股份有限公司 | Method for recording actual driving mileage of automobile |
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