CN103308071B - A kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration - Google Patents
A kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration Download PDFInfo
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Abstract
The invention discloses a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration, it is characterized in that, comprehensive utilization GPS/INS location information carries out dynamic reviser online to the zero-point voltage of micro-electro-mechanical gyroscope, and bearing calibration is divided into 2 kinds, respectively static shift correction and dynamic calibration.Static shift correction comprises the following steps: a) INS Static Detection: whether detection vehicle remains static；B) state adds up: if detecting in step a that vehicle is resting state, then accumulator is incremented by；C) static shift correction condition detection: whether detecting step b reaches the threshold values that can correct；D) zero correction: use static low-pass filtering algorithm correction gyroscope zero-point voltage.The beneficial effects of the present invention is: simple to operate, correction need not individually correct each INS module, is directly corrected by upper software；Correction accuracy is higher, and dynamic calibration can be carried out in vehicle travel process, can be corrected according to external environment state, and environmental response is faster to external world, more accurately.
Description
Technical field
The present invention relates to the bearing calibration of a kind of automobile navigation apparatus, particularly a kind of GPS/INS positioning navigation device is micro-
Electromechanical gyroscopes zero-point voltage bearing calibration.
Background technology
GPS system is the mainstream technology on current vehicle mounted guidance market, and it calculates location information by satellite radio signal,
Have global, round-the-clock, in high precision, the advantage such as real-time positioning.But, due to the rectilinear propagation properties of wireless signal, it is dynamic
Performance and capacity of resisting disturbance are poor, and when GPS is near tunnel or high building, satellite-signal is blocked, and impact is the most fixed
Position even cannot position.
INS (Inertial Navigation System inertial navigation system) has independent navigation ability, can be independent
Providing the locating navigation information such as speed, angles and positions, external interference resistance is strong.INS is applied in GPS system, i.e. produces
Give birth to GPS/INS combined positioning and navigating system.This combined system can be carried out by INS when GPS location navigation is affected
Location navigation.
INS includes rate sensor, acceleration transducer and three modules of micro-electro-mechanical gyroscope, and rate sensor measures car
Speed, acceleration transducer measure vehicle inclination angle, micro-electro-mechanical gyroscope by output voltage measure vehicle angular velocity.
So, the INS error when location navigation includes rate error and angular error.INS measures the method for vehicle angles: microcomputer
After electric top instrument is fixed on vehicle, export the micro-electro-mechanical gyroscope output voltage relevant to vehicle angular velocity, diagonal angle in real time
Rate integrating i.e. can get angle variable quantity, by accumulative vehicle at the angle variable quantity of horizontal aspect (being parallel to road surface), and can
To calculate the travel direction of vehicle.If there is error in one of key system perameter of micro-electro-mechanical gyroscope zero-point voltage, in boat
During position calculates, this error will progressively be accumulated, and causes vehicle travel headings projection accuracy significantly to decline.
The zero-point voltage of micro-electro-mechanical gyroscope is the output voltage when microelectromechanicgyroscope gyroscope instrument chip is in totally stationary.Pass
The micro-electro-mechanical gyroscope zero-point voltage assay method of system is to mark it respectively before each microelectromechanicgyroscope gyroscope instrument chip is installed
Fixed, owing to zero-point voltage is relevant, in the driving process of vehicle to the characteristic of micro-electro-mechanical gyroscope and working condition (temperature etc.)
Meeting real-time change, there is the defects such as operation is complicated, take time and effort, precision is not enough in the method.
Therefore, how to utilize external information to carry out the zero-point voltage value of dynamic calibration micro-electro-mechanical gyroscope, be GPS/INS combination
Position Fixing Navigation System improves navigation accuracy and reduces one of production complexity technical barrier to be solved.
Summary of the invention
The goal of the invention of the present invention is: for the problem of above-mentioned existence, it is provided that a kind of GPS/INS positioning navigation device is micro-
Electromechanical gyroscopes zero-point voltage bearing calibration.In GPS/INS combined positioning and navigating system, micro-electro-mechanical gyroscope zero-point voltage is dynamic
State bearing calibration.GPS/INS combined positioning and navigating system includes CPU element, INS module and for receiving longitude and latitude signal
Gps receiver.INS module includes measuring the rate detecting unit of car speed, 3-axis acceleration sensor and measuring vehicle
The micro-electro-mechanical gyroscope unit of angular velocity.
The technical solution used in the present invention is such that
A kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration, it is characterised in that utilize
GPS/INS location information carries out dynamic reviser online to the zero-point voltage of micro-electro-mechanical gyroscope.
Further, described GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration, including following
Step:
A) INS stationary vehicle detection: whether detection vehicle remains static；
B) state adds up: if detecting in step a that vehicle is resting state, then accumulator is incremented by；
C) static shift correction condition detection: whether detecting step b reaches the threshold values that can correct；
D) static shift correction: use static low-pass filtering algorithm correction gyroscope zero-point voltage.
Further, described GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration, including following
Step:
A) INS intact stability detects and adds up: detection vehicle-state is the most stable, and adds up steady statue；
B) motion of INS its straight line detects and adds up: whether detection vehicle is linear motion, and tire out linear motion
Add；
C) motion of GPS its straight line detects and adds up: whether utilize GPS detection vehicle is linear motion, and transport straight line
Move and add up；
D) dynamic calibration condition detection: whether the state accumulation result in detecting step a, b, c reaches correctable condition；
E) dynamic calibration: use dynamic low-pass filtering algorithm to correct gyroscope zero-point voltage.
Further, described static shift correction is for utilizing 3-axis acceleration sensor detection vehicle horizontal direction and vertical direction
The difference of acceleration and the last acceleration got, if the acceleration difference of horizontal direction is less than 0.4 meter every square second,
And the acceleration difference of vertical direction is less than 1.2 meters every square second, then it is assumed that Current vehicle is static.
Further, the static shift correction condition described in step c is detected as stationary vehicle number of times and is more than 3 times, and front and back twice
Magnitude of angular velocity change less than 0.2 degree per second time.
Further, whether the described INS of utilization detection vehicle is to move along a straight line as utilizing rate detecting unit to detect vehicle row
Sail distance, utilize the angle changing of gyro unit detection vehicle, if angle change is less than 1.5 degree in the operating range of 100 meters,
Then think Current vehicle straight-line travelling.
Further, described in step d utilize GPS detection vehicle be whether linear motion for be positioning states at GPS system,
When speed is less than 1 degree per second more than 30Km/h, vehicle angular velocity, gather 5 continuous print GPS information.If the side of these 5 GPS point
To angle difference less than 3 degree, then it is assumed that vehicle the most linearly travels.
Further, described step a detects that vehicle stabilization number of times is more than 8 times, and it is secondary that step b detects that vehicle linearly travels
Number is more than or equal to 5 times, and step c detects that vehicle linearly travel times is more than or equal to 1 time, and the detection of current gyro unit
Magnitude of angular velocity to vehicle is less than 0.16 degree per second, then use dynamic low-pass filtering algorithm to correct gyroscope zero-point voltage.
Further, described static low-pass filtering algorithm is corrected to use formula, newV=a0*curV+a1*xn1_1+
a2*xn2_1-b1*yn1_1-b2*yn2_1；Xn1_1, xn2_1, yn1_1 and yn2_1 are set as 4 history value, and initial value is set to
The initial zero voltage of gyroscope；Coefficient a0, a1, a2, b1, b2, be respectively as follows: a0=0.0014；A1=0.0029；A2=
0.0014；B1=-1.918570；B2=0.924502；CurV is the static zero-point voltage detected in real time, after correction, more
New historical value: update history value: xn2_1=xn1_1；Xn1_1=curV；Yn2_1=yn1_1；Yn1_1=newV；
Further, described dynamic low-pass filtering algorithm is corrected to use formula, newV=0.998*yn1_1+0.002*
curV；CurV is the dynamic zero point voltage detected in real time, yn1_1 and yn2_1 is set as 2 history value, after correction, updates
History value: yn2_1=yn1_1；Yn1_1=newV.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
1) simple to operate.Owing to the zero-point voltage of micro-electro-mechanical gyroscope is relevant to himself characteristic and working condition, tradition
Bearing calibration be required for each micro-electro-mechanical gyroscope module and be corrected, and need to survey at different temperature
Its zero-point voltage value fixed, needs to take a substantial amount of time and energy.The dynamic correcting method that the present invention provides, then need not above
Operation, by upper layer software (applications) dynamic implement trimming process in vehicle travel process.
2) more pinpoint accuracy.Traditional bearing calibration has been carried out under different temperatures for each micro-electro-mechanical gyroscope module
Zero-point voltage set.Due to zero-point voltage and the dependency of himself characteristic of micro-electro-mechanical gyroscope, in use, special
Zero-point voltage value under fixed temperature is it can also happen that change.Therefore, zero point value is only disposably corrected, rear by conventional correction methods
It is possible that zero point value deviation during Xu.The dynamic correcting method that the present invention provides, then can carry out dynamic calibration in real time,
Effectively avoid this problem.
Accompanying drawing explanation
Fig. 1 is zero correction flow chart under resting state.
Fig. 2 is zero correction flow chart under kinestate.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Embodiment 1:
As it is shown in figure 1, a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration, including with
Lower step:
A) INS vehicle stationary state detection: utilize 3-axis acceleration sensor detection vehicle horizontal direction and vertical direction
The difference of acceleration and the last acceleration got, if the acceleration difference of horizontal direction is less than 0.4 meter every square second,
And the acceleration difference of vertical direction is less than 1.2 meters every square second, then it is assumed that Current vehicle is static；
B) state adds up: add up when above-mentioned steps detects vehicle stationary state；
C) static shift correction condition detection: when detecting that stationary vehicle number of times is more than 3 times by step A, and front and back twice
Magnitude of angular velocity change less than 0.2 degree per second time, use static low-pass filtering algorithm correction gyroscope zero-point voltage；
D) static shift correction: utilize formula, newV=a0*curV+a1*xn1_1+a2*xn2_1-b1*yn1_1-b2*yn2_1
Micro-electro-mechanical gyroscope zero-point voltage is corrected；Xn1_1, xn2_1, yn1_1 and yn2_1 are set as 4 history value, initial value
It is set to the initial zero voltage of micro-electro-mechanical gyroscope；Coefficient a0, a1, a2, b1, b2, be respectively as follows: a0=0.0014；A1=
0.0029；A2=0.0014；B1=-1.918570；B2=0.924502；CurV is the static zero-point voltage detected in real time,
After correction, update history value: update history value: xn2_1=xn1_1；Xn1_1=curV；Yn2_1=yn1_1；Yn1_1=
newV。
Having the beneficial effects that of the present embodiment: vehicle can carry out zero correction to micro-electro-mechanical gyroscope, no when static
At needs, micro-electro-mechanical gyroscope is taken out, be corrected indicating by special instrument.It is more convenient for using.
Embodiment 2:
As in figure 2 it is shown, a kind of GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration, including with
Lower step:
A) INS intact stability detects and adds up: utilize INS gyro unit detection vehicle current angular velocity value and
Its difference with last angular velocity, if magnitude of angular velocity is less than 0.8 degree per second, and difference is less than 0.2 degree per second, then it is assumed that when
Vehicle in front is stable；And steady statue is added up；
B) motion of INS its straight line detects and adds up: utilize the rate detecting unit detection vehicle operating range of INS, profit
With the angle changing of gyro unit detection vehicle, if angle change is less than 1.5 degree in the operating range of 100 meters, then it is assumed that when
Vehicle in front straight-line travelling；And linear motion is added up；
C) motion of GPS its straight line detects and adds up；It is that positioning states, speed are more than 30Km/h, vehicle angle at GPS system
When speed is less than 1 degree per second, gather 5 continuous print GPS information.If the orientation angle difference of these 5 GPS point is less than 3 degree, then recognize
The most linearly travel for vehicle；And this linear motion is added up；
D) dynamic calibration condition detection: when step a detects that vehicle stabilization number of times is more than 8 times, and step b detects vehicle edge
Straight-line travelling number of times is more than or equal to 5 times, and step c detects that vehicle linearly travel times is more than or equal to 1 time, and current gyro
Instrument unit detects that the magnitude of angular velocity of vehicle less than 0.16 degree per second, then uses dynamic low-pass filtering algorithm to correct gyroscope zero point
Voltage；
E) dynamic calibration: utilize formula newV=0.998*yn1_1+0.002*curV to micro machine gyroscope zero-point voltage
It is corrected；CurV is the dynamic zero point voltage detected in real time, yn1_1 and yn2_1 is set as 2 history value, after correction,
Update history value: yn2_1=yn1_1；Yn1_1=newV.
Having the beneficial effects that of the present embodiment: vehicle, in stable motor process, still can implement zero correction, nothing
Need to stop correction, further practicality.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (9)
1. a GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration, it is characterised in that utilize GPS/
INS location information carries out dynamic reviser online to the zero-point voltage of micro-electro-mechanical gyroscope, and its dynamic calibration comprises the following steps:
A) INS intact stability detects and adds up: utilizes INS detection vehicle-state the most stable, and tires out steady statue
Add；
B) INS its straight line motion detection adding up: whether utilize INS detection vehicle is linear motion, and to move along a straight line into
Row is cumulative；
C) GPS its straight line motion detection adding up: whether utilize GPS detection vehicle is linear motion, and to move along a straight line into
Row is cumulative；
D) dynamic calibration condition detection: whether the state accumulation result in detecting step a, b, c reaches correctable condition；
E) dynamic calibration: use dynamic low-pass filtering algorithm to correct gyroscope zero-point voltage.
GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration the most according to claim 1, it is special
Levy and be: its static shift correction process comprises the following steps:
A) INS Static Detection: utilize whether INS detection vehicle remains static；
B) state adds up: if detecting in step a that vehicle is resting state, then accumulator is incremented by；
C) static shift correction condition detection: whether detecting step b reaches the threshold value that can correct；
D) static shift correction: use static low-pass filtering algorithm correction gyroscope zero-point voltage.
GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration the most according to claim 2, it is special
Levy and be: described INS Static Detection is to utilize adding of 3-axis acceleration sensor detection vehicle horizontal direction and vertical direction
The difference of the acceleration that speed and last time get, if the acceleration difference of horizontal direction is less than 0.4 meter every square second, and
The acceleration difference of vertical direction is less than 1.2 meters every square second, then it is assumed that Current vehicle is static.
4. with according to the GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration described in claim 2, it is special
Levy and be: the static shift correction condition described in step c is detected as stationary vehicle number of times more than 3 times, and the angular velocity of twice front and back
Value change is less than 0.2 degree per second.
5. with according to the GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration described in claim 1, it is special
Levy and be: whether the described INS of utilization detection vehicle is to move along a straight line as utilizing rate detecting unit to detect vehicle operating range, profit
With the angle changing of gyro unit detection vehicle, if angle change is less than 0.5 degree in the operating range of 100 meters, then it is assumed that when
Vehicle in front straight-line travelling.
6. with according to the GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration described in claim 1, it is special
Levy and be: described in step c utilize GPS detection vehicle be whether linear motion for be positioning states at GPS system, speed is more than
When 30Km/h, vehicle angular velocity are less than 1 degree per second, gather 5 continuous print GPS information, if the orientation angle phase of these 5 GPS point
Difference is less than 3 degree, then it is assumed that vehicle the most linearly travels.
GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration the most according to claim 1, it is special
Levy and be: described step a detects that vehicle stabilization number of times is more than 8 times, and step b detects that vehicle linearly travel times is more than
In 5 times, step c detects that vehicle linearly travel times is more than or equal to 1 time, and current gyro unit detects vehicle
Magnitude of angular velocity is less than 0.16 degree per second, then use dynamic low-pass filtering algorithm to correct gyroscope zero-point voltage.
GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration the most according to claim 2, it is special
Levy and be: described static low-pass filtering algorithm is corrected to use formula, newV1=a0*curV1+a1*xn1_1+a2*xn2_
1-b1*yn1_1 mono-b2*yn2_1；Xn1_1, xn2_1, yn1_1 and yn2_1 are set as 4 history value, and initial value is set to gyroscope
Initial zero voltage；Coefficient a0, a1, a2, b1, b2, its value is respectively as follows: a0=0.0014；A1=0.0029；A2=
0.0014；B1=-1.918570；B2=0.924502；CurV1 is the static zero-point voltage detected in real time, after correction,
Update history value: update history value: xn2_1=xn1_1；Xn1_1=curV1；Yn2_1=yn1_1；Yn1_1=newV1.
GPS/INS positioning navigation device micro-electro-mechanical gyroscope zero-point voltage bearing calibration the most according to claim 1, it is special
Levy and be: described dynamic low-pass filtering algorithm is corrected to use formula, newV2=0.998*yn1_1+0.002*curV2；
CutV2 is the dynamic zero point voltage detected in real time, yn1_1 and yn2_1 is set as 2 history value, after correction, more new historical
Value: yn2_1=yn1_1；Yn1_1=newV2.
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| CN105737853B (en) * | 2016-02-04 | 2018-11-23 | 中国科学院电子学研究所 | A kind of drift calibration method of robot inertial navigation system |
| CN106568460B (en) * | 2016-10-14 | 2019-12-27 | 北京小鸟看看科技有限公司 | Method and device for correcting gyroscope data |
| CN106643793A (en) * | 2016-11-24 | 2017-05-10 | 北京小鸟看看科技有限公司 | Virtual reality helmet and device and method for detecting calibration effect of gyroscope sensor in virtual reality helmet |
| CN107741240B (en) * | 2017-10-11 | 2020-11-24 | 成都国卫通信技术有限公司 | Adaptive initial alignment method of combined inertial navigation system suitable for communication-in-moving |
| CN110065462B (en) * | 2018-01-24 | 2022-05-03 | 现代自动车株式会社 | Ignition control system for safety air bag of vehicle and control method thereof |
| CN109506678B (en) * | 2018-12-29 | 2020-09-15 | 中国电子科技集团公司第二十六研究所 | Dynamic self-checking method for gyroscope in inertia measurement combination based on micro-electro-mechanical system |
| CN111536999B (en) * | 2020-05-27 | 2023-03-31 | 浙江中星光电子科技有限公司 | Zero voltage calibration method, device, equipment and medium of gyroscope |
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