CN102608641A - Vehicle-mounted combined navigation system based on single-axis gyroscope and single-axis accelerometer and method - Google Patents
Vehicle-mounted combined navigation system based on single-axis gyroscope and single-axis accelerometer and method Download PDFInfo
- Publication number
- CN102608641A CN102608641A CN2012100968691A CN201210096869A CN102608641A CN 102608641 A CN102608641 A CN 102608641A CN 2012100968691 A CN2012100968691 A CN 2012100968691A CN 201210096869 A CN201210096869 A CN 201210096869A CN 102608641 A CN102608641 A CN 102608641A
- Authority
- CN
- China
- Prior art keywords
- module
- gnss
- carrier
- location
- locating information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a vehicle-mounted combined navigation system based on a single-axis gyroscope sensor and a single-axis accelerometer sensor. The positioning system comprises a GNSS (Global Navigation Satellite System) module, the single-axis gyroscope sensor, the single-axis accelerometer sensor, a dead reckoning (DR) module, a logic control module and a kalman filter. The GNSS module outputs the positioning result of a multi-mode navigation satellite system. The gyroscope and the accelerometer are formed into a DR positioning mechanical arrangement. When a GNSS signal is valid, the positioning results of the GNSS module and the DR module pass through the standard kalman filter, and merged positioning information is outputted. When the GNSS signal is invalid, the DR navigates and outputs a positioning result alone. The system has the advantages that: the structure of the system is simple, and moreover, the system is integrated with the advantages of the GNSS positioning system and the DR positioning system, thus increasing the precision and continuity of positioning.
Description
Technical field
The present invention relates to a kind of integrated navigation system and method, especially a kind of onboard combined navigation system and method based on single axis gyroscope and accelerometer.
Background technology
Automatic navigator has become the important component part of general-utility car.Continuous rising along with the automobile sales volume; Increasing demand to onboard navigation system increases, and existing automatic navigator generally has the Global Navigation Satellite System (GNSS) receiver to be realized, the domestic satellite-signal of catching and utilizing has GPS; Two generations of the Big Dipper, GLONASS etc.In general environment, the bearing accuracy of GNSS has reached in the 3m, satisfies the requirement of vehicle mounted guidance fully at present.But the GNSS signal receives the interference of environment easily, and GNSS receiver deviations is very big under urban canyons or viaduct; In the tunnel, GNSS receiver even positioning result can't be provided.
GNSS navigational system precision not in time passing and error increases, but it receives environmental disturbances easily, and the independent navigation ability is relatively poor; The DR navigational system receives environmental constraints little, and the independent navigation ability is stronger, but it As time goes on, and error is accumulation constantly.The GNSS/DR integrated navigation system is actually the mutual compensation of two kinds of navigational system.Present existing technology generally adopts odometer to add the inertial sensor of gyroscope as the DR module, and the location of odometer, gyroscope and GNSS system is exported as measured value, utilizes the extended Kalman filter fused data." GPS/DR Vehicle Integrated Location System and the localization method " that patent CN1908587A proposes just is being based on odometer and the gyroscope GPS/DR integrated navigation system as the inertial sensor of DR module.This method, vehicle-mounted pre-installed ratio are easier to realize, but vehicle-mounted back dress is difficult to because the odometer signal is difficult for the cause that obtains realize.
Summary of the invention
The present invention proposes the single axis gyroscope that a kind of front and back dress can realize and the onboard combined navigation system and the method for single-axis accelerometer.Its system architecture is simple, in complex environment, can improve bearing accuracy; In the place of no satellite-signals such as tunnel, lasting locating information can be provided.
According to technical scheme provided by the invention, the onboard combined navigation system of a kind of single axis gyroscope and single-axis accelerometer comprises the GNSS module, single axis gyroscope, single-axis accelerometer, DR module, Logic control module, Kalman filter; Said GNSS module output comprises the locating information in position, speed and course; GNSS module location setting-up time is above and detect carrier movement speed greater than after the setting value; The positional information initialization DR module of GNSS then comprises the initial position and the initial velocity of initialization DR module; The course of said single axis gyroscope indication carrier, the change list in course is shown
In the formula
Be the course angle of current time,
Be the course angle in a last moment, ω is the angular velocity that single axis gyroscope is measured, and dt is a sampling time interval, and gyrostatic sampled point and the output of GNSS module location require time synchronized, and internal mechanism relies on pulse per second (PPS) PPS and realizes time synchronized; The linear acceleration a of said single-axis accelerometer indication carrier, the velometer of carrier is shown V
n=V
N-1+ adt, V
nThe movement velocity of expression current time carrier, V
N-1Represent the movement velocity of a last moment carrier, dt is a sampling time interval; The sampled point of accelerometer and the output of GNSS module location require time synchronized, and internal mechanism relies on pulse per second (PPS) PPS and realizes time synchronized; Rear end navigation calculation method output GNSS module positioning result through the GNSS module; The DR module obtains being calculated by the measured value of single axis gyroscope and single-axis accelerometer after the location initialization information that the GNSS module provides, obtains the locating information of DR module; Said Logic control module is used for controlling the logical relation of GNSS module and DR module; Said Kalman filter merges the locating information of GNSS module and DR module, distributes the location weights of two systems, obtains positioning result; Estimate the deviation of gyroscope and accelerometer simultaneously, feed back to sensor.
The setting-up time of said GNSS module location is 2 minutes, and the setting value of carrier movement speed is 3m/s.
A kind of vehicle-mounted GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer may further comprise the steps:
1) the GNSS module receives the GNSS satellite-signal, effectively and effectively exports positioning result until the location;
2) after the GNSS module location, export pulse per second (PPS) PPS accurately, come the positioning result of synchronous GNSS and DR module according to PPS; Between former and later two PPS, 50 points of continuous sampling think that single-axis accelerometer directly indicates the change of line speed rate of carrier; The turning rate of single axis gyroscope indication carrier;
3) the turning rate ω, the change of line speed rate a that obtain through sampling of single axis gyroscope and individual axis acceleration flowmeter sensor, ω and a obtain the locating information of DR module output as the input of DR module;
4) Logic control module to the location validity of Kalman filter input GNSS module and DR module, is assisted the Kalman filter operate as normal according to the working condition of GNSS module and DR module;
5) the Kalman filter frequency of operation is identical with GNSS module frequency of operation, and according to the bearing accuracy of GNSS module and DR module, select weight and distribute to two systems, thus the positioning result that is optimized.
4, the vehicle-mounted GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer as claimed in claim 2 is characterized in that, the time interval of the said sampling of step 2 is 10-20ms.
Described DR module
A, the calculating variation
of carrier course in sampling time interval
B, the variation V of calculating bearer rate in sampling time interval
n=V
N-1+ adt;
C, the displacement S of calculating carrier in sampling time interval
n=S
N-1+ V
N-1Dt;
D, calculating carrier east orientation displacement in sampling time interval
E, calculating carrier north orientation displacement in sampling time interval
Every once sampling, the DR module is from a～the e computing is once; Wherein,
Be the course angle of current time,
Be the course angle in a last moment, ω is the angular velocity that single axis gyroscope is measured, and dt is a sampling time interval, V
nThe movement velocity of expression current time carrier, V
N-1Represent the movement velocity of a last moment carrier, a is the carrier acceleration that single-axis accelerometer is measured, S
nBe the displacement of current time carrier, S
N-1Be last one displacement of carrier constantly,
Be the east orientation displacement of current time carrier,
Be the last one east orientation displacement of carrier constantly, in the formula
Be the north orientation displacement of current time carrier,
Be the last one north orientation displacement of carrier constantly.
According to GNSS module and DR module different working state, the locating information of coordinating two modules merges:
1) invalid, the DR module in GNSS module location is located when invalid, and GNSS block search satellite-signal is up to GNSS module location effectively and till exporting effective locating information;
2) GNSS module location effectively, the DR module locatees when invalid; Surpass setting-up time if satisfy GNSS module continuous positioning; And detect the carrier travelling speed greater than setting value, then GNSS module initialization DR module locating information makes the DR module also can realize positioning function; If the condition that has in two conditions does not meet the demands, then the GNSS module can not initialization DR module locating information;
3) GNSS module location is effectively, the DR module locatees when effective, then with the locating information of two modules and bearing accuracy as inputing to Kalman filter, thereby the positioning result that is optimized;
4) invalid, the DR module in GNSS module location is located when effective, and the locating information of GNSS module is the input card Thalmann filter no longer, and the still input of Kalman filter the most of the locating information of DR module, and keep the location.
According to the input of logic control element, distribute the weight of two modules, the locating information that is optimized; And compare with the locating information of DR module; Obtain the deviation of single axis gyroscope and individual axis acceleration flowmeter sensor, and deviation is fed back to sensor, thus the precision of raising DR module; Invalid and DR module is located under the effective situation in GNSS module location, prolongs the station-keeping ability of DR module.
Advantage of the present invention is:
1) the constructed DR locator meams of single axis gyroscope single-axis accelerometer is simple in structure; Cost reduces, and under the situation that vehicle-mounted odometer signal can't be drawn, also can realize the DR positioning function; Not only on vehicle-mounted pre-installed scheme, meet the demands, on the dress scheme of back, also meet the demands;
2) advantage with GNSS module positioning system and DR positioning system puts together, and has overcome GNSS and has used the discontinuous problem in location separately, satisfies the needs of vehicle real-time positioning simultaneously;
3) utilize Kalman filter to distribute to two system's reasonable weight value, the locating information that is optimized.Compare with the general data fusion method, have advantage at aspects such as fault-tolerant, calculated amount;
4) logic control is played crucial using most on the locating information of the initialization of DR locating information and GNSS, two systems of DR merges.This logic control embodies adaptive ability;
5) improve the bearing accuracy in signal serious shielding zones such as complex environment such as urban canyons, leaf be dense;
6) cost is low, simple in structure.
Description of drawings
Fig. 1 is the onboard combined navigation system structured flowchart of single axis gyroscope and single-axis accelerometer.
Fig. 2 is the process flow diagram of logic control element.
Fig. 3 is the structural representation of DR module.
Fig. 4 is the structural representation of Kalman filter.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
The GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer of the present invention; Overcome the shortcoming that GNSS module localization method often can not normally be located because signal blocks; Accumulated error is bigger in time owing to sensor also to have solved the DR location technology; Can not be separately, the long-time problem of using, also solved and be difficult to shortcoming that vehicle-mounted odometer signal is extracted on the back dress market.
System of the present invention comprises GNSS module, single axis gyroscope and single-axis accelerometer, DR module, Logic control module, Kalman filter.These modular systems are accomplished the GNSS/DR integrated navigation, under different GNSS signal environments, rationally utilize the function of two locating modules, obtain the locating information that continues and optimize.Said GNSS module output multimode navigational satellite system positioning result.Gyroscope and accelerometer are formed the mechanics layout of DR location.When the GNSS signal was effective, the positioning result of GNSS module and DR module was exported the locating information after merging through standard Kalman filter.When the GNSS invalidating signal, the DR output positioning result that navigates separately.
Said GNSS module output comprises the locating information in position, speed and course; GNSS module location setting-up time (as 2 minutes) is above and detect carrier movement speed greater than setting value (like 3m/s) afterwards; The positional information initialization DR module of GNSS then comprises the initial position and the initial velocity of initialization DR module.The course of said single axis gyroscope indication carrier; The change list in course is shown:
in the formula
be the course angle of current time;
was the course angle in a last moment; ω is the angular velocity that gyroscope survey goes out, and dt is a sampling time interval.Gyrostatic sampled point and the output of GNSS module location require time synchronized, and internal mechanism relies on PPS and realizes time synchronized.The linear acceleration of said single-axis accelerometer indication carrier, the velometer of carrier is shown V
n=V
N-1+ adt.V
nThe movement velocity of expression current time carrier, V
N-1Represent the movement velocity of a last moment carrier, a is the carrier acceleration that acceleration measuring measures, and dt is a sampling time interval.Wherein the sampling rate of accelerometer is 50Hz, and sampled point and the output of GNSS module location require time synchronized, and internal mechanism relies on PPS and realizes time synchronized.Rear end navigation calculation method (like least square or Kalman filter) output GNSS module positioning result through the GNSS module.The DR module obtains being calculated by the measured value of single axis gyroscope and single-axis accelerometer after the location initialization information that the GNSS module provides, obtains the locating information of DR module.Said Logic control module is used for controlling the logical relation of GNSS module and DR module.Said Kalman filter merges the locating information of GNSS module and DR module, distributes the location weights of two systems, obtains more excellent positioning result.Estimate the deviation of gyroscope and accelerometer simultaneously, feed back to sensor.
Each module co-ordination is following:
1) the GNSS module receives the GNSS satellite-signal, effectively and effectively exports positioning result until the location.Consider that originally the GNSS module locating in effective a period of time, bearing accuracy is not necessarily very high, so in order to give DR module initial value more accurately, make its location more than 2 minutes.Consider also under the lower situation of carrier movement speed that the constant speed precision of GNSS module can be very not high.Therefore need GNSS module location more than 2 minutes and detect after carrier movement speed satisfies greater than the condition of 3m/s, just initialization DR module.
2) after the GNSS module location, can export pulse per second (PPS) accurately (PPS), come the positioning result of synchronous GNSS and DR module according to PPS.Between former and later two PPS, 50 points of continuous sampling, sampling time interval is 10-20ms.Owing to the time interval between two sampled points is very short, it is little to think that therefore carrier movement changes, so single-axis accelerometer can directly be indicated the change of line speed rate of carrier.The turning rate of single axis gyroscope indication carrier.
3) the turning rate ω, the change of line speed rate a that obtain through 10-20ms sampling of single axis gyroscope and individual axis acceleration flowmeter sensor, ω and a obtain the locating information that the DR module is exported as the input of DR module
4) Logic control module to the location validity of Kalman filter input GNSS module and DR module, is assisted the Kalman filter operate as normal according to the working condition of GNSS module and DR module.
5) the Kalman filter frequency of operation is identical with GNSS module frequency of operation, and according to the bearing accuracy of GNSS module and DR module, the choose reasonable weight is also distributed to two systems, thus the positioning result that is optimized.
Described GNSS module comprises a plurality of satellite navigation systems, two generations of modern satellite system such as GPS, the Big Dipper, GLONSS etc.The multimodal satellite navigation module can provide more Navsat, thereby improves the navigation accuracy in the complex environment.
Below provide concrete steps of air navigation aid of the present invention:
1) GNSS module receiving satellite signal is exported GNSS module locating information and PPS accurately after the location;
2) according to PPS gyroscope and accelerometer output signal are sampled;
3) GNSS module location is more than 2 minutes, and when detecting speed greater than 3m/s in the GNSS module locating information, the position of initialization DR, speed and course information;
4) DR obtains after the initialization information, according to the sampling output of gyroscope and accelerometer, carries out independently DR location, output DR locating information;
5) judge whether GNSS and DR locating information be effective, if GNSS and DR locating information are all effective, then two locating information are carried out data fusion, the locating information after being optimized, and the sensor bias offset is provided;
6) if the DR locating information is invalid, GNSS module locating information is effective, then exports GNSS module locating information, and the sensor bias offset is not provided;
7) if GNSS module locating information is invalid, the DR locating information is effective, then exports the DR locating information, and the sensor bias offset is not provided;
8) if GNSS module locating information and DR locating information are all invalid, then do not export locating information.
Fig. 1 is based on the structured flowchart of the GNSS/DR integrated navigation of single axis gyroscope single-axis accelerometer, and when GNSS module 101 was started working, the effective locating information that comprises position, speed and course is located and exported to the search navigation satellite-signal up to GNSS module 101; The GNSS module is exported PPS accurately after the 101 correct location; GNSS module 101 continuous positioning were also exported effective locating information 2 minutes; Whether detect bearer rate greater than 3m/s; If detect carrier movement speed greater than 3m/s, then Logic control module 104 logic control elements be judged as GNSS module 101 can initialization DR module 103; If detect the carrier travelling speed not greater than 3m/s, then Logic control module 104 be judged as GNSS module 101 can not initialization DR module 103, wait for that detecting carrier movement speed just gives DR module 103 with GNSS module 101 initialization informations greater than 3m/s.Single axis gyroscope and single-axis accelerometer 102 provide linear acceleration and angular velocity to DR module 103 after dead reckoning is initialised, carried out the time synchronized of single axis gyroscope and single-axis accelerometer 102 samplings and the 101 location outputs of GNSS module by PPS.
As shown in Figure 2, Logic control module 104 provides different selections according to the duty of GNSS module 101 and DR module 103:
1) GNSS module 101 location are effective, and DR module 103 location are invalid, show that DR module 103 is not initialised; Whether Logic control module 104 satisfies the requirement of " location is uninterrupted continued 2 minutes and carrier movement speed greater than 3m/s " according to DR module 103 locating information, provides the control result, meets the demands; 202 are judged as and are, but GNSS module 101 initialization DR modules 103 locating information do not meet the demands; 202 are judged as not; Then GNSS module 101 works on, and up to meeting the demands, drives till DR module 103 operate as normal;
2) GNSS module 101 location effectively; DR module 103 location is also effective, shows that two localization methods all are in normal operating conditions, and the locating information of the locating information of GNSS module 101 and DR module 103 can data fusion; Data fusion relies on Kalman filter 105; Kalman filter 105 provides the weight of two localization methods, and according to weight, locating information is optimized in whole GNSS/DR integrated navigation system output.After the locating information output of Kalman filter output is compared with the locating information output of DR module 103; The deviation compensation value of output single axis gyroscope and single-axis accelerometer 102; This value is fed back to single axis gyroscope and single-axis accelerometer 102, thereby improve DR module 103 bearing accuracies;
3) single axis gyroscope and single-axis accelerometer 102 location are invalid, DR module 103 location effectively, general this situation appears at tunnel etc. not to be had in the environment of GNSS signal.Logic control module 104 blocks GNSS module 101 output, makes it no longer as the input of Kalman filter 105, the input that DR module 103 continues as Kalman filter 105, thus obtain continual effective locating information.
As shown in Figure 3; Single axis gyroscope 301 is used for characterizing the rate of change of carrier movement course angle speed; Single-axis accelerometer 302 is used for characterizing the rate of change of carrier movement linear velocity; In inertial sensor sampling time interval 309; Carrier course angle 304 is expressed as that
is the course angle of current time in
formula;
was the course in a last moment; ω is the angular velocity that gyroscope survey goes out, and dt is a sampling time interval.This operation is accomplished by totalizer 303, and bearer rate 308 is expressed as V
n=V
N-1+ adt, V
nThe movement velocity of expression current time carrier, V
N-1Represent the movement velocity of a last moment carrier, a is the carrier acceleration that acceleration measuring measures, and dt is a sampling time interval.Accomplish by accelerometer 305, the first multipliers 306 and totalizer 307, in the sampling time carrier the displacement 311 of process obtain through second multiplier 310 by speed 308 and sampling time interval 302, calculating the carrier displacement is S
n=S
N-1+ V
N-1Dt, S in the formula
nBe the displacement of current time carrier, S
N-1Be last one displacement of carrier constantly, V
N-1Be the speed of a last moment carrier, dt is a sampling time interval.The 3rd multiplier 314 of east orientation displacement calculates carrier east orientation displacement 316 and does
In the formula
Be the east orientation displacement of current time carrier,
Be the last one east orientation displacement of carrier constantly, V
N-1Be the speed of a last moment carrier, dt is a sampling time interval,
Carrier course angle for a last moment.North orientation displacement the 4th multiplier 315 calculates carrier north orientation displacement 317 and is expressed as
In the formula
Be the north orientation displacement of current time carrier,
Be the last one north orientation displacement of carrier constantly, V
N-1Be the speed of a last moment carrier, dt is a sampling time interval,
Carrier course angle for a last moment.Wherein sin computing 312 distributes the northeast both direction with cos computing 313 with displacement, and the locating information output of carrier course angle 304, speed 308, east orientation displacement 316 and north orientation displacement 317 all can be arranged at each sampling time interval.
As shown in Figure 4, the Kalman filter frequency of operation is identical with GNSS module frequency of operation.Topmost two models of Kalman filtering are forecast model 401 and measurement model 402.Forecast model 401 is the DR localization method among the present invention; Measuring model 402 is GNSS module localization method; Locating information through after output is optimized after the Kalman filter 105 feeds back to forecast model 401 simultaneously, the gyroscope in the compensation DR localization method and the deviation of accelerometer.
Claims (7)
1. the onboard combined navigation system of single axis gyroscope and single-axis accelerometer is characterized in that: comprise the GNSS module, single axis gyroscope, single-axis accelerometer, DR module, Logic control module, Kalman filter;
Said GNSS module output comprises the locating information in position, speed and course; GNSS module location setting-up time is above and detect carrier movement speed greater than after the setting value; The positional information initialization DR module of GNSS then comprises the initial position and the initial velocity of initialization DR module;
The course of said single axis gyroscope indication carrier; The change list in course is shown that
is the course angle of current time in
formula;
was the course angle in a last moment; ω is the angular velocity that single axis gyroscope is measured; Dt is a sampling time interval; Gyrostatic sampled point and the output of GNSS module location require time synchronized, and internal mechanism relies on pulse per second (PPS) PPS and realizes time synchronized;
The linear acceleration a of said single-axis accelerometer indication carrier, the velometer of carrier is shown V
n=V
N-1+ adt, V
nThe movement velocity of expression current time carrier, V
N-1Represent the movement velocity of a last moment carrier, dt is a sampling time interval; The sampled point of accelerometer and the output of GNSS module location require time synchronized, and internal mechanism relies on pulse per second (PPS) PPS and realizes time synchronized;
Rear end navigation calculation method output GNSS module positioning result through the GNSS module; The DR module obtains being calculated by the measured value of single axis gyroscope and single-axis accelerometer after the location initialization information that the GNSS module provides, obtains the locating information of DR module;
Said Logic control module is used for controlling the logical relation of GNSS module and DR module;
Said Kalman filter merges the locating information of GNSS module and DR module, distributes the location weights of two systems, obtains positioning result; Estimate the deviation of gyroscope and accelerometer simultaneously, feed back to sensor.
2. the onboard combined navigation system of single axis gyroscope as claimed in claim 1 and single-axis accelerometer is characterized in that, the setting-up time of said GNSS module location is 2 minutes, and the setting value of carrier movement speed is 3m/s.
3. the vehicle-mounted GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer is characterized in that:
1) the GNSS module receives the GNSS satellite-signal, effectively and effectively exports positioning result until the location;
2) after the GNSS module location, export pulse per second (PPS) PPS accurately, come the positioning result of synchronous GNSS and DR module according to PPS; Between former and later two PPS, 50 points of continuous sampling think that single-axis accelerometer directly indicates the change of line speed rate of carrier; The turning rate of single axis gyroscope indication carrier;
3) the turning rate ω, the change of line speed rate a that obtain through sampling of single axis gyroscope and individual axis acceleration flowmeter sensor, ω and a obtain the locating information of DR module output as the input of DR module;
4) Logic control module to the location validity of Kalman filter input GNSS module and DR module, is assisted the Kalman filter operate as normal according to the working condition of GNSS module and DR module;
5) the Kalman filter frequency of operation is identical with GNSS module frequency of operation, and according to the bearing accuracy of GNSS module and DR module, select weight and distribute to two systems, thus the positioning result that is optimized.
4. the vehicle-mounted GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer as claimed in claim 2 is characterized in that the time interval of the said sampling of step 2 is 10-20ms.
5. the vehicle-mounted GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer as claimed in claim 2 is characterized in that, described DR module
A, the calculating variation
of carrier course in sampling time interval
B, the variation V of calculating bearer rate in sampling time interval
n=V
N-1+ adt;
C, the displacement S of calculating carrier in sampling time interval
n=S
N-1+ V
N-1Dt;
D, calculating carrier east orientation displacement in sampling time interval
E, calculating carrier north orientation displacement in sampling time interval
Every once sampling, the DR module is from a～the e computing is once; Wherein,
Be the course angle of current time,
Be the course angle in a last moment, ω is the angular velocity that single axis gyroscope is measured, and dt is a sampling time interval, V
nThe movement velocity of expression current time carrier, V
N-1Represent the movement velocity of a last moment carrier, a is the carrier acceleration that single-axis accelerometer is measured, S
nBe the displacement of current time carrier, S
N-1Be last one displacement of carrier constantly,
Be the east orientation displacement of current time carrier,
Be the last one east orientation displacement of carrier constantly, in the formula
Be the north orientation displacement of current time carrier,
Be the last one north orientation displacement of carrier constantly.
6. the vehicle-mounted GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer as claimed in claim 2 is characterized in that, according to GNSS module and DR module different working state, the locating information of coordinating two modules merges:
1) invalid, the DR module in GNSS module location is located when invalid, and GNSS block search satellite-signal is up to GNSS module location effectively and till exporting effective locating information;
2) GNSS module location effectively, the DR module locatees when invalid; Surpass setting-up time if satisfy GNSS module continuous positioning; And detect the carrier travelling speed greater than setting value, then GNSS module initialization DR module locating information makes the DR module also can realize positioning function; If the condition that has in two conditions does not meet the demands, then the GNSS module can not initialization DR module locating information;
3) GNSS module location is effectively, the DR module locatees when effective, then with the locating information of two modules and bearing accuracy as inputing to Kalman filter, thereby the positioning result that is optimized;
4) invalid, the DR module in GNSS module location is located when effective, and the locating information of GNSS module is the input card Thalmann filter no longer, and the still input of Kalman filter the most of the locating information of DR module, and keep the location.
7. the vehicle-mounted GNSS/DR Combinated navigation method of single axis gyroscope single-axis accelerometer as claimed in claim 2 is characterized in that, according to the input of logic control element, distributes the weight of two modules, the locating information that is optimized; And compare with the locating information of DR module; Obtain the deviation of single axis gyroscope and individual axis acceleration flowmeter sensor, and deviation is fed back to sensor, thus the precision of raising DR module; Invalid and DR module is located under the effective situation in GNSS module location, prolongs the station-keeping ability of DR module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100968691A CN102608641A (en) | 2012-03-30 | 2012-03-30 | Vehicle-mounted combined navigation system based on single-axis gyroscope and single-axis accelerometer and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100968691A CN102608641A (en) | 2012-03-30 | 2012-03-30 | Vehicle-mounted combined navigation system based on single-axis gyroscope and single-axis accelerometer and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102608641A true CN102608641A (en) | 2012-07-25 |
Family
ID=46526142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100968691A Pending CN102608641A (en) | 2012-03-30 | 2012-03-30 | Vehicle-mounted combined navigation system based on single-axis gyroscope and single-axis accelerometer and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102608641A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104360366A (en) * | 2014-11-05 | 2015-02-18 | 中国科学院嘉兴微电子与系统工程中心 | Dead reckoning and GPS (global positioning system) combined positioning method |
| CN104808233A (en) * | 2015-04-30 | 2015-07-29 | 北斗导航科技有限公司 | Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system |
| CN104808232A (en) * | 2015-04-30 | 2015-07-29 | 北斗导航科技有限公司 | Beidou RNSS (radio navigation satellite system) based High-precision positioning method, device and system |
| CN106384540A (en) * | 2016-10-20 | 2017-02-08 | 深圳市元征科技股份有限公司 | Vehicle real-time track prediction method and prediction system |
| CN107942364A (en) * | 2016-10-13 | 2018-04-20 | 阿里巴巴集团控股有限公司 | Vehicle positioning method and vehicle positioning system |
| CN109917440A (en) * | 2019-04-09 | 2019-06-21 | 广州小鹏汽车科技有限公司 | A kind of Combinated navigation method, system and vehicle |
| CN109945858A (en) * | 2019-03-20 | 2019-06-28 | 浙江零跑科技有限公司 | It parks the multi-sensor fusion localization method of Driving Scene for low speed |
| CN110083890A (en) * | 2019-04-10 | 2019-08-02 | 同济大学 | Intelligent automobile tire radius adaptive estimation method based on cascade Kalman filtering |
| CN110296684A (en) * | 2019-06-03 | 2019-10-01 | 新纳传感系统有限公司 | A kind of dynamic inclination meter with Express Order Wire acceleration detection function |
| CN110530356A (en) * | 2019-09-04 | 2019-12-03 | 青岛海信电器股份有限公司 | Processing method, device, equipment and the storage medium of posture information |
| CN110926483A (en) * | 2019-11-25 | 2020-03-27 | 奥特酷智能科技(南京)有限公司 | Low-cost sensor combination positioning system and method for automatic driving |
| CN111721298A (en) * | 2020-06-24 | 2020-09-29 | 重庆赛迪奇智人工智能科技有限公司 | SLAM outdoor large scene accurate positioning method |
| CN112629527A (en) * | 2020-11-20 | 2021-04-09 | 上海申博信息系统工程有限公司 | Vehicle-mounted combined positioning device and method using LoRa communication |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030135327A1 (en) * | 2002-01-11 | 2003-07-17 | Seymour Levine | Low cost inertial navigator |
| US20090115656A1 (en) * | 2007-11-06 | 2009-05-07 | Sirf Technology, Inc. | Systems and Methods for Global Differential Positioning |
| CN101493335A (en) * | 2009-02-27 | 2009-07-29 | 启明信息技术股份有限公司 | GPS/DR combined navigation method and device |
| CN201331348Y (en) * | 2009-01-06 | 2009-10-21 | 山东科沐华信息技术有限公司 | Combined GPS vehicle terminal |
| CN101907714A (en) * | 2010-06-25 | 2010-12-08 | 陶洋 | GPS aided positioning system and method based on multi-sensor data fusion |
-
2012
- 2012-03-30 CN CN2012100968691A patent/CN102608641A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030135327A1 (en) * | 2002-01-11 | 2003-07-17 | Seymour Levine | Low cost inertial navigator |
| US20090115656A1 (en) * | 2007-11-06 | 2009-05-07 | Sirf Technology, Inc. | Systems and Methods for Global Differential Positioning |
| CN201331348Y (en) * | 2009-01-06 | 2009-10-21 | 山东科沐华信息技术有限公司 | Combined GPS vehicle terminal |
| CN101493335A (en) * | 2009-02-27 | 2009-07-29 | 启明信息技术股份有限公司 | GPS/DR combined navigation method and device |
| CN101907714A (en) * | 2010-06-25 | 2010-12-08 | 陶洋 | GPS aided positioning system and method based on multi-sensor data fusion |
Non-Patent Citations (2)
| Title |
|---|
| 贾继超,吴训忠,夏家和,王群伟: "一种车辆航位推算改进方法", 《中国惯性技术学报》 * |
| 魏鹏; 张志强; 张春熹; 厉秉强; 杜强: "基于光纤陀螺的DGPS/DR组合导航定位系统的设计与实现", 《计算机测量与控制》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104360366A (en) * | 2014-11-05 | 2015-02-18 | 中国科学院嘉兴微电子与系统工程中心 | Dead reckoning and GPS (global positioning system) combined positioning method |
| CN104808233A (en) * | 2015-04-30 | 2015-07-29 | 北斗导航科技有限公司 | Beidou RNSS (radio navigation satellite system) based High-precision course measurement method, device and system |
| CN104808232A (en) * | 2015-04-30 | 2015-07-29 | 北斗导航科技有限公司 | Beidou RNSS (radio navigation satellite system) based High-precision positioning method, device and system |
| CN107942364A (en) * | 2016-10-13 | 2018-04-20 | 阿里巴巴集团控股有限公司 | Vehicle positioning method and vehicle positioning system |
| CN106384540A (en) * | 2016-10-20 | 2017-02-08 | 深圳市元征科技股份有限公司 | Vehicle real-time track prediction method and prediction system |
| WO2018072362A1 (en) * | 2016-10-20 | 2018-04-26 | 深圳市元征科技股份有限公司 | Real-time vehicle trajectory prediction method and prediction system |
| CN109945858A (en) * | 2019-03-20 | 2019-06-28 | 浙江零跑科技有限公司 | It parks the multi-sensor fusion localization method of Driving Scene for low speed |
| CN109917440B (en) * | 2019-04-09 | 2021-07-13 | 广州小鹏汽车科技有限公司 | Combined navigation method, system and vehicle |
| CN109917440A (en) * | 2019-04-09 | 2019-06-21 | 广州小鹏汽车科技有限公司 | A kind of Combinated navigation method, system and vehicle |
| CN110083890A (en) * | 2019-04-10 | 2019-08-02 | 同济大学 | Intelligent automobile tire radius adaptive estimation method based on cascade Kalman filtering |
| CN110083890B (en) * | 2019-04-10 | 2021-02-02 | 同济大学 | Intelligent automobile tire radius self-adaptive estimation method based on cascading Kalman filtering |
| CN110296684A (en) * | 2019-06-03 | 2019-10-01 | 新纳传感系统有限公司 | A kind of dynamic inclination meter with Express Order Wire acceleration detection function |
| CN110530356A (en) * | 2019-09-04 | 2019-12-03 | 青岛海信电器股份有限公司 | Processing method, device, equipment and the storage medium of posture information |
| CN110530356B (en) * | 2019-09-04 | 2021-11-23 | 海信视像科技股份有限公司 | Pose information processing method, device, equipment and storage medium |
| CN110926483A (en) * | 2019-11-25 | 2020-03-27 | 奥特酷智能科技(南京)有限公司 | Low-cost sensor combination positioning system and method for automatic driving |
| CN111721298A (en) * | 2020-06-24 | 2020-09-29 | 重庆赛迪奇智人工智能科技有限公司 | SLAM outdoor large scene accurate positioning method |
| CN112629527A (en) * | 2020-11-20 | 2021-04-09 | 上海申博信息系统工程有限公司 | Vehicle-mounted combined positioning device and method using LoRa communication |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102608641A (en) | Vehicle-mounted combined navigation system based on single-axis gyroscope and single-axis accelerometer and method | |
| CN108535755B (en) | GNSS/IMU vehicle-mounted real-time integrated navigation method based on MEMS | |
| CN104412065B (en) | Positioner | |
| Georgy et al. | Low-cost three-dimensional navigation solution for RISS/GPS integration using mixture particle filter | |
| CN102277823B (en) | Vehicle-mounted pavement detection system based on inertia measurement unit and laser range finder | |
| CN101493335B (en) | GPS/DR combined navigation method and device | |
| CN105865461B (en) | A kind of car position system and method based on Multi-sensor Fusion algorithm | |
| CN100578153C (en) | Calibration method for vehicle speed measuring instrument | |
| CN110631574B (en) | inertia/odometer/RTK multi-information fusion method | |
| CN109955872B (en) | Real-time positioning method and device for high-speed railway train | |
| CN101476891A (en) | Accurate navigation system and method for movable object | |
| CN104898139A (en) | Vehicle positioning excursion-correcting method and device | |
| CN101556160B (en) | Onboard navigation system and method capable of realizing vehicle speed signal self-learning | |
| CN102607596B (en) | Strapdown flexible gyro dynamic random drift error testing method based on difference GPS (global position system) observation | |
| CN102680002B (en) | Online calibrating method of zero-point voltage of micro-machine gyroscope for automobile | |
| CN105556244A (en) | Method for determining a current position of a motor vehicle in a geodetic coordinate system and motor vehicle | |
| CN102645665A (en) | BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device | |
| CN102538790A (en) | Method for solving difference of gyroscope parameters in inertial navigation | |
| CN109975851A (en) | A kind of train line fault point accurate positioning method and system | |
| CN106033122A (en) | OBU positioning subdivision calculation method and system | |
| JP2024016253A (en) | Position measuring device, position measuring method, and program | |
| CN202649469U (en) | Positioning device for judging position of effective global satellite positioning system | |
| CN102980592A (en) | Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) longitude and latitude | |
| CN102706364B (en) | Online calibration method of scaling factors of micromachining gyroscope for vehicle | |
| CN104567888A (en) | Inertial navigation vehicle attitude measurement method based on online velocity correction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120725 |