CN102967312A - Handheld inertial navigator - Google Patents
Handheld inertial navigator Download PDFInfo
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- CN102967312A CN102967312A CN2012105254170A CN201210525417A CN102967312A CN 102967312 A CN102967312 A CN 102967312A CN 2012105254170 A CN2012105254170 A CN 2012105254170A CN 201210525417 A CN201210525417 A CN 201210525417A CN 102967312 A CN102967312 A CN 102967312A
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- inertial measurement
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Abstract
The invention relates to a handheld inertial navigator, comprising a horizontal sensor, a magnetic north sensor, a height sensor, an inertial measuring unit (IMU), an RAM9 (Random Access Memory 9) main board, an ARM9 (Advanced RISC Machines 9) processor with a wince embedded type operating system platform, a touch screen and a lithium battery, wherein the horizontal sensor outputs a rolling deviation delta R and a pitching deviation delta P; the magnetic north sensor outputs a course deviation delta Y; a height output by the height sensor is combined with a height resolved by the inertial measuring unit (IMU) to obtain a height difference delta H; after Kalman filtering is carried out, a stable height deviation is obtained and is fed back to the inertial measuring unit (IMU); corrected data are processed; and the resolving of carrier posture, speed and position information is finished by a mathematic model of a micro electro mechanical system (MEMS) under an inertial coordinate system. The handheld inertial navigator has the advantages of portability, mobility, low power consumption, visibility, low price, invisibility and small volume, and is simple and reliable to use.
Description
Technical field
The present invention relates to the inertial navigator of a kind of inertial navigation set, particularly hand-held.
Background technology
Hand-held navigation product comprises with the mobile phone of GPS module and panel computer, uses satellite positioning navigation, and locating information and velocity information are provided, and fails to provide attitude information; Hand-held inertial navigation set at present also seldom, great majority are the navigator on vehicle-mounted, boat-carrying and the immobilization carrier such as airborne, resolve navigation by expensive Inertial Measurement Unit IMU (Inertial Measurement Unit), location, speed, attitude information are provided, single reason owing to inertia device can cause dispersing of system, and long precision can lower.
Summary of the invention
In order to overcome the shortcoming of prior art, the invention provides a kind of hand-held inertial navigator, it has light, mobile, low-power consumption, visual, cheap, hidden, small and exquisite advantage, uses to simplify and reliable.
The present invention solves the technical scheme that its technical matters takes: it comprises horizon sensor, magnetic north sensor, height sensor, Inertial Measurement Unit IMU, RAM9 mainboard, with ARM9 processor, touch-screen and the lithium battery of wince embedded OS platform, the inclination angle that resolve in conjunction with Inertial Measurement Unit IMU at the inclination angle of described horizon sensor output obtains a rolling deviation δ R and a pitching deviation δ P, through after the Kalman filtering, obtain a stable deviation and feed back to Inertial Measurement Unit IMU; The course angle that the course angle of described magnetic north sensor output is resolved in conjunction with Inertial Measurement Unit IMU obtains a course deviation δ Y, through after the Kalman filtering, obtains a stable course angle deviation, feeds back to Inertial Measurement Unit IMU; The height that the height of described height sensor output resolves in conjunction with Inertial Measurement Unit IMU obtains a difference in height δ H, through after the Kalman filtering, obtains a Metacentre Height deviation, feeds back to Inertial Measurement Unit IMU; Data after process proofreading and correct, the mathematical model of the micro-electromechanical system (MEMS) under inertial coordinates system are finished resolving of attitude of carrier, speed, positional information, improve the precision of system with this.
That the present invention has is light, mobile, low-power consumption, visual, cheap, hidden, small and exquisite advantage, uses to simplify and reliable.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is calcspar of the present invention;
Fig. 2 is software calcspar of the present invention;
Fig. 3 is fundamental diagram of the present invention.
Embodiment
As shown in Figure 1, 2, the present invention includes horizon sensor, magnetic north sensor, height sensor, Inertial Measurement Unit IMU, RAM9 mainboard, with ARM9 processor, touch-screen and the lithium battery of wince embedded OS platform, the inclination angle that resolve in conjunction with Inertial Measurement Unit IMU at the inclination angle of described horizon sensor output obtains a rolling deviation δ R and a pitching deviation δ P, after Kalman (Kalman) filtering, obtain a stable deviation and feed back to Inertial Measurement Unit IMU; The course angle that the course angle of described magnetic north sensor output is resolved in conjunction with Inertial Measurement Unit IMU obtains a course deviation δ Y, through after the Kalman filtering, obtains a stable course angle deviation, feeds back to Inertial Measurement Unit IMU; The height that the height of described height sensor output resolves in conjunction with Inertial Measurement Unit IMU obtains a difference in height δ H, through after the Kalman filtering, obtains a Metacentre Height deviation, feeds back to Inertial Measurement Unit IMU; Data after process proofreading and correct, the mathematical model of the micro-electromechanical system (MEMS) under inertial coordinates system (Micro-Electro-Mechanical Systems) are finished resolving of attitude of carrier, speed, positional information, improve the precision of system with this.
Described Inertial Measurement Unit IMU comprises gyroscope and accelerometer, and the gyroscope Output speed for the course angle of equipment, need to carry out integration one time to angular velocity, obtains an angle variable quantity.Because system samples with fixed frequency, its integral node is equidistant, therefore can adopt the Newton-Cotes formula integration of Equidistant Nodes.For the inaccurate unstable situation of system's random quantity statistics that reaches of system model, designed self-adaptation expansion Kalman filtering algorithm stable, the local minimum of square error prediction.This algorithm does not need in the past whole observation datas, and it just comes the currency of estimated signal according to previous estimated value and a nearest observation data, and calculated amount is little, and real-time is good; After obtaining systematic parameter, can be in the parameter constant situation to after the signal that detects carry out filtering, have good adaptivity.
Principle of work: by the data of ARM9 system acquisition MEMS Inertial Measurement Unit (IMU), horizon sensor, magnetic north sensor and height sensor, after its data are carried out filtering, compensation deals, mathematical model according to the MEMS system under the inertial coordinates system is finished resolving of the information such as attitude of carrier, speed, position, and its mechanical layout as shown in Figure 3.
Claims (1)
1. hand-held inertial navigator, it is characterized in that: it comprises horizon sensor, magnetic north sensor, height sensor, Inertial Measurement Unit IMU, RAM9 mainboard, with ARM9 processor, touch-screen and the lithium battery of wince embedded OS platform, the inclination angle that resolve in conjunction with Inertial Measurement Unit IMU at the inclination angle of described horizon sensor output obtains a rolling deviation δ R and a pitching deviation δ P, through after the Kalman filtering, obtain a stable deviation and feed back to Inertial Measurement Unit IMU; The course angle that the course angle of described magnetic north sensor output is resolved in conjunction with Inertial Measurement Unit IMU obtains a course deviation δ Y, through after the Kalman filtering, obtains a stable course angle deviation, feeds back to Inertial Measurement Unit IMU; The height that the height of described height sensor output resolves in conjunction with Inertial Measurement Unit IMU obtains a difference in height δ H, through after the Kalman filtering, obtains a Metacentre Height deviation, feeds back to Inertial Measurement Unit IMU; Data after process proofreading and correct, the mathematical model of the micro-electromechanical system (MEMS) under inertial coordinates system are finished resolving of attitude of carrier, speed, positional information, improve the precision of system with this.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105254170A CN102967312A (en) | 2012-12-07 | 2012-12-07 | Handheld inertial navigator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105254170A CN102967312A (en) | 2012-12-07 | 2012-12-07 | Handheld inertial navigator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102967312A true CN102967312A (en) | 2013-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105254170A Pending CN102967312A (en) | 2012-12-07 | 2012-12-07 | Handheld inertial navigator |
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Citations (8)
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| US6459990B1 (en) * | 1999-09-23 | 2002-10-01 | American Gnc Corporation | Self-contained positioning method and system thereof for water and land vehicles |
| US20050197769A1 (en) * | 2004-03-02 | 2005-09-08 | Honeywell International Inc. | Personal navigation using terrain-correlation and/or signal-of-opportunity information |
| CN101217584A (en) * | 2008-01-18 | 2008-07-09 | 同济大学 | A voice commanding control method and system applicable on automobiles |
| CN101571400A (en) * | 2009-01-04 | 2009-11-04 | 四川川大智胜软件股份有限公司 | Embedded onboard combined navigation system based on dynamic traffic information |
| CN201429796Y (en) * | 2009-04-23 | 2010-03-24 | 深圳市大疆创新科技有限公司 | Unmanned helicopter automatic flight control system circuit |
| CN102050226A (en) * | 2009-10-30 | 2011-05-11 | 航天科工惯性技术有限公司 | Aviation emergency instrument, and system initial alignment method and combined navigation algorithm thereof |
| CN201876268U (en) * | 2010-09-28 | 2011-06-22 | 深圳市深华龙科技实业有限公司 | Hand-held navigator |
| CN202256675U (en) * | 2011-05-17 | 2012-05-30 | 山东天海电装有限公司 | Beidou satellite positioning and navigation vehicle-mounted terminal |
-
2012
- 2012-12-07 CN CN2012105254170A patent/CN102967312A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6459990B1 (en) * | 1999-09-23 | 2002-10-01 | American Gnc Corporation | Self-contained positioning method and system thereof for water and land vehicles |
| US20050197769A1 (en) * | 2004-03-02 | 2005-09-08 | Honeywell International Inc. | Personal navigation using terrain-correlation and/or signal-of-opportunity information |
| CN101217584A (en) * | 2008-01-18 | 2008-07-09 | 同济大学 | A voice commanding control method and system applicable on automobiles |
| CN101571400A (en) * | 2009-01-04 | 2009-11-04 | 四川川大智胜软件股份有限公司 | Embedded onboard combined navigation system based on dynamic traffic information |
| CN201429796Y (en) * | 2009-04-23 | 2010-03-24 | 深圳市大疆创新科技有限公司 | Unmanned helicopter automatic flight control system circuit |
| CN102050226A (en) * | 2009-10-30 | 2011-05-11 | 航天科工惯性技术有限公司 | Aviation emergency instrument, and system initial alignment method and combined navigation algorithm thereof |
| CN201876268U (en) * | 2010-09-28 | 2011-06-22 | 深圳市深华龙科技实业有限公司 | Hand-held navigator |
| CN202256675U (en) * | 2011-05-17 | 2012-05-30 | 山东天海电装有限公司 | Beidou satellite positioning and navigation vehicle-mounted terminal |
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Application publication date: 20130313 |