CN108917793A - The INS calibration system and method assisted using GNSS and DTM - Google Patents
The INS calibration system and method assisted using GNSS and DTM Download PDFInfo
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- CN108917793A CN108917793A CN201810763721.6A CN201810763721A CN108917793A CN 108917793 A CN108917793 A CN 108917793A CN 201810763721 A CN201810763721 A CN 201810763721A CN 108917793 A CN108917793 A CN 108917793A
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- ins
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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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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention provides a kind of INS calibration systems and method assisted using GNSS and DTM, belong to INS collimation technique field.An integrated positioning Performance figure parameter I is returned to INS calibration module by integrated positioning modulet, INS calibration module pass through parameter ItWhether the positioning result for judging that integrated positioning module calculates can be used, if unavailable, INS calibration module will provide new set set at the t+1 momentt+1INS calibration module is given, continues to initialize INS motion state, until the positioning result of integrated positioning module instruction is available.The present invention restores in available situation in GNSS, INS motion state parameters can quickly and accurately be initialized, avoid the occurrence of satellite-signal is limited for a long time and leads to GNSS/INS integrated positioning error accumulation, the availability and precision for improving subsequent combination positioning, are conducive to the safe and reliable operation of train.
Description
Technical field
The present invention relates to inertial navigation system (INS) collimation technique fields, and in particular to a kind of to utilize satellite navigation system
(GNSS) and the INS calibration method that assists of digital track map (DTM).
Background technique
Combined orientation technology based on GNSS and INS combines the continuity of INS positioning and GNSS is positioned without accumulated error
The advantages of, it can be positioned for the train of railway territory and continuous, high-precision solution is provided.It is blocked by urban canyons, tunnel etc.
It influences, GNSS will appear the not available situation of positioning during train operation, and prolonged satellite-signal is limited to be will lead to
GNSS/INS integrated positioning error accumulation eventually leads to positioning diverging.How in the case where GNSS restores available situation, quick, essence
INS motion state parameters really are initialized, the performances such as the availability positioned to subsequent combination, precision are had a major impact.
Summary of the invention
The purpose of the present invention is to provide one kind it is initial can fast, accurately to complete INS after GNSS restores available
Change the INS calibration method of positioning assisted using GNSS and DTM, to solve technical problem present in above-mentioned background technique.
To achieve the goals above, this invention takes following technical solutions：
On the one hand, the present invention provides a kind of INS calibration system assisted using GNSS and DTM, which includes that GNSS connects
Receipts machine, DTM and INS, which is characterized in that further include integrated positioning module and INS calibration module；
The integrated positioning module is used to provide integrated positioning Performance figure parameter I for INS calibration modulet, and complete
GNSS's and INS reconfigures positioning；
The INS calibration module, which is used to obtain, obtains the train position r that GNSS is providedt gnss, train speed vt gnssAnd
The posture information ψ stored in DTMt, determine set sett={ rt,vt,ψt}。
On the other hand, a kind of INS calibration method assisted using GNSS and DTM provided by the invention, including following process
Step：
Step S110：After GNSS, which is positioned, to be restored, the train position r that GNSS is provided is obtained in moment tt gnssAnd train speed
vt gnss；
Step S120：By train position rt gnssWith train speed vt gnssBe mapped to DTM database, obtain that DTM provides when
Carve the train position r of ttWith train speed vt；
Step S130：The train stored in acquisition DTM is in position rtWhen posture information ψt, obtain set sett={ rt,
vt,ψt}；
Step S140：Using t moment as starting point, in conjunction with set settTrain position, the train speed of calibration and initialization INS
With train posture information, restart the integrated positioning of GNSS/INS.
Further, the step S140 includes：
Integrated positioning module returns to an integrated positioning Performance figure parameter I to INS calibration modulet, INS calibration module is logical
Cross parameter ItWhether the positioning result for judging that integrated positioning module calculates can be used, if unavailable, INS calibration module will be in t+1
It carves and new set set is providedt+1INS calibration module is given, continues to initialize INS motion state, until the instruction of integrated positioning module
Positioning result is available.
Further, ItDepending on specific integrated positioning algorithm, when Extended Kalman filter is used for integrated positioning mould
When block, ItIndicate error co-variance matrix
Further, work as ItIndicate error co-variance matrixWhen, it usesDo Chi-square Test：
If cannot determine that positioning result is unavailable, if determining that positioning result is available by examining by examining；Its
In,ForThe matrix of element composition on diagonal line.
Beneficial effect of the present invention：In the case where GNSS restores available situation, INS motion state can be quickly and accurately initialized
Parameter avoids the occurrence of satellite-signal is limited for a long time and leads to GNSS/INS integrated positioning error accumulation, improves
The availability and precision of subsequent combination positioning, are conducive to the safe and reliable operation of train.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the restoration scenario schematic diagram after GNSS signal is blocked in train localizing environment described in the embodiment of the present invention.
Fig. 2 is the original for carrying out INS calibration described in the embodiment of the present invention using the INS calibration system that GNSS and DTM is assisted
Manage block diagram.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or module with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or modules, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, module and/or their group.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, further by taking specific embodiment as an example below in conjunction with attached drawing to be solved
Explanation is released, and embodiment does not constitute the restriction to the embodiment of the present invention.
Those of ordinary skill in the art are it should be understood that attached drawing is the schematic diagram of one embodiment, the portion in attached drawing
Part or device are not necessarily implemented necessary to the present invention.
Embodiment
The embodiment of the present invention provides a kind of method and system of INS calibration assisted using GNSS and DTM, as shown in Figure 1,
GNSS signal occlusion area will lead to normal GNSS/INS integrated positioning result and gradually dissipate, and INS loses to displacement shape
Effective tracking of state, it is unavailable to eventually lead to INS.
As shown in Fig. 2, the embodiment of the present invention provides a kind of system of INS calibration assisted using GNSS and DTM, train is logical
After crossing occlusion area, the calibration to INS is completed by triggering " INS calibration module ", to be provided with for " integrated positioning module "
The initial parameter of effect ensures the continuous, credible of subsequent combination positioning result.
Above system includes GNSS receiver, DTM and INS, further includes integrated positioning module and INS calibration module；
The integrated positioning module is used to provide integrated positioning Performance figure parameter I for INS calibration modulet, and complete
GNSS's and INS reconfigures positioning；
The INS calibration module, which is used to obtain, obtains the train position r that GNSS is providedt gnss, train speed vt gnssAnd
The posture information ψ stored in DTMt, determine set sett={ rt,vt,ψt}。
When carrying out INS calibration using above system, after train passes through signal blocks region, GNSS signal starts to restore,
After GNSS, which is positioned, to be restored, the train position r that GNSS is provided is obtained in moment tt gnssWith train speed vt gnss；
Then by train position rt gnssWith train speed vt gnssIt is mapped to DTM database, obtains t at the time of DTM is provided
Train position rtWith train speed vt；
The train stored in DTM is acquired again in position rtWhen posture information ψt, obtain set
sett={ rt,vt,ψt}；
Finally, using t moment as starting point, in conjunction with set settTrain position, train speed and the column of calibration and initialization INS
Vehicle posture information restarts the integrated positioning of GNSS/INS.
In an embodiment of the present invention, integrated positioning module returns to an integrated positioning Performance figure to INS calibration module
Parameter It, INS calibration module pass through parameter ItWhether the positioning result for judging that integrated positioning module calculates can be used, if unavailable,
INS calibration module will provide new set set at the t+1 momentt+1INS calibration module is given, continues to initialize INS motion state, directly
The positioning result indicated to integrated positioning module is available.
In practical applications, ItDepending on specific integrated positioning algorithm, for example, when Extended Kalman filter is used for group
When closing locating module, ItIndicate error co-variance matrixWork as ItIndicate error co-variance matrixWhen, it uses
Do Chi-square Test：
If cannot determine that positioning result is unavailable, if determining that positioning result is available by examining by examining；Its
In,ForThe matrix of element composition on diagonal line.
In conclusion the INS calibration method assisted described in the embodiment of the present invention using GNSS and DTM, is restored in GNSS
In available situation, INS motion state parameters can be quickly and accurately initialized, satellite-signal is avoided and is limited and leads for a long time
The occurrence of causing the error accumulation of GNSS/INS integrated positioning improves the availability and precision of subsequent combination positioning, is conducive to
The safe and reliable operation of train.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (5)
1. a kind of INS calibration system assisted using GNSS and DTM, including GNSS receiver, DTM and INS, which is characterized in that
It further include integrated positioning module and INS calibration module；
The integrated positioning module is used to provide integrated positioning Performance figure parameter I for INS calibration modulet, and complete GNSS and
INS's reconfigures positioning；
The INS calibration module, which is used to obtain, obtains the train position r that GNSS is providedt gnss, train speed vt gnssAnd it is deposited in DTM
The posture information ψ of storaget, determine set sett={ rt,vt,ψt}。
2. a kind of INS calibration method assisted using GNSS and DTM, which is characterized in that including following process step：
Step S110：After GNSS, which is positioned, to be restored, the train position r that GNSS is provided is obtained in moment tt gnssAnd train speed
vt gnss；
Step S120：By train position rt gnssWith train speed vt gnssIt is mapped to DTM database, obtains t at the time of DTM is provided
Train position rtWith train speed vt；
Step S130：The train stored in acquisition DTM is in position rtWhen posture information ψt, obtain set sett={ rt,vt,
ψt}；
Step S140：Using t moment as starting point, in conjunction with set settTrain position, train speed and the column of calibration and initialization INS
Vehicle posture information restarts the integrated positioning of GNSS/INS.
3. the INS calibration method according to claim 2 assisted using GNSS and DTM, which is characterized in that the step
S140 includes：
Integrated positioning module returns to an integrated positioning Performance figure parameter I to INS calibration modulet, INS calibration module passes through ginseng
Number ItWhether the positioning result for judging that integrated positioning module calculates can be used, if unavailable, INS calibration module will mention at the t+1 moment
For new set sett+1INS calibration module is given, continues to initialize INS motion state, until the positioning of integrated positioning module instruction
As a result it can be used.
4. the INS calibration method according to claim 3 assisted using GNSS and DTM, which is characterized in that ItDepending on tool
The integrated positioning algorithm of body, when Extended Kalman filter is used for integrated positioning module, ItIndicate error co-variance matrix Px+。
5. the INS calibration method according to claim 4 assisted using GNSS and DTM, which is characterized in that work as ItIt indicates to miss
Poor covariance matrix Pk +When, it usesDo Chi-square Test：
If cannot determine that positioning result is unavailable, if determining that positioning result is available by examining by examining；Wherein,For Pk +The matrix of element composition on diagonal line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810763721.6A CN108917793A (en) | 2018-07-12 | 2018-07-12 | The INS calibration system and method assisted using GNSS and DTM |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810763721.6A CN108917793A (en) | 2018-07-12 | 2018-07-12 | The INS calibration system and method assisted using GNSS and DTM |
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| Publication Number | Publication Date |
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| CN108917793A true CN108917793A (en) | 2018-11-30 |
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| CN201810763721.6A Withdrawn CN108917793A (en) | 2018-07-12 | 2018-07-12 | The INS calibration system and method assisted using GNSS and DTM |
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Cited By (2)
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| CN109471143A (en) * | 2018-12-11 | 2019-03-15 | 北京交通大学 | The train combined positioning method of self-adapted tolerance |
| CN116222584A (en) * | 2023-05-10 | 2023-06-06 | 北京白水科技有限公司 | Method, device and equipment for determining grouping information in group navigation positioning |
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| CN108196289A (en) * | 2017-12-25 | 2018-06-22 | 北京交通大学 | A kind of train combined positioning method under satellite-signal confined condition |
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| CN101357643A (en) * | 2008-08-21 | 2009-02-04 | 北京交通大学 | Accurate train positioning method and system realized by digital trail map and GPS |
| US9273968B2 (en) * | 2010-06-23 | 2016-03-01 | Aisin Aw Co., Ltd. | Track information generating device, track information generating method, and computer-readable storage medium |
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| CN108196289A (en) * | 2017-12-25 | 2018-06-22 | 北京交通大学 | A kind of train combined positioning method under satellite-signal confined condition |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181130 |
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