CN103968848A - Navigation method and navigation system based on inertial sensor - Google Patents
Navigation method and navigation system based on inertial sensor Download PDFInfo
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- CN103968848A CN103968848A CN201410211975.9A CN201410211975A CN103968848A CN 103968848 A CN103968848 A CN 103968848A CN 201410211975 A CN201410211975 A CN 201410211975A CN 103968848 A CN103968848 A CN 103968848A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
The invention provides a navigation method based on an inertial sensor. The navigation method comprises the steps: obtaining an axial direction of a first axle of a carrier inertia sensor under a static state, wherein a specific force direction of three axles of the carrier inertia sensor is consistent with a gravitational acceleration direction g; obtaining an axial direction of a second axle of the inertia sensor from a static state to a movement state in N straight driving moments; obtaining an axial direction of a third axle of the inertia sensor according to the axial direction of the first axle and the axial direction of the second axle, and obtaining corresponding special force values and magnitudes of angular velocity of the three axles of the inertia sensor; performing matrix transformation on the corresponding special force values and magnitudes of angular velocity of the three axles of the inertia sensor according to inclination angles of the second axle and the third axle of the inertia sensor and a front axle and a right axle of a carrier; and calculating a position of the carrier through an initial position of the carrier, and the corresponding special force values and magnitudes of angular velocity of the three axles after transformation. The navigation method is capable of judging whether the carrier is static or not, and realizing continuous navigation under the condition of poor satellite signals. The invention further provides a navigation system based on the inertial sensor.
Description
Technical Field
The invention relates to the field of vehicle navigation, in particular to a navigation method and a navigation system based on an inertial sensor.
Background
With the increasing living standard of people, higher requirements are provided for continuous real-time positioning, but due to the complex use environment, the real-time and continuous positioning requirements of vehicles are difficult to meet by a single satellite navigation positioning system. Currently, a GPS receiver and a DR (Dead Reckoning) composed of a gyroscope, a vehicle speed pulse or an accelerometer are mostly used for system integration through a microprocessor to form a GPS/DR combined positioning scheme, but these schemes all have certain limitations.
Among them, inertial navigation will play a significant role in severe environments. The inertial navigation generally comprises inertial sensors such as three-axis accelerometers which are orthogonal to each other and three-axis gyroscopes which are orthogonal to each other, can provide high-precision three-dimensional position, three-dimensional speed and three-dimensional attitude information in a short time, is free from external interference, has good autonomy, and is widely applied to the fields of vehicle-mounted, aviation, navigation and the like at present. The inertial sensor is usually installed on a carrier, and in order to enable measurement data of the inertial sensor to directly reflect linear motion and angular motion information of the carrier, the axial direction of the inertial sensor needs to be parallel to the right direction, the front direction and the sky direction of the carrier, so that high requirements are put forward on an installation mode and space, and meanwhile, the axial direction of the inertial sensor needs to be manually set, so that the operation is complex, and the application of inertial navigation is limited. Due to the influences of carrier space, manual operation and other factors, a certain inclination angle exists during installation, and when the inclination angle is not negligible, the precision of inertial navigation is influenced. When the axial direction of the sensor is judged, if the included angle between any two axes of the inertial sensor and the gravity acceleration is 45 degrees, the absolute values of the specific forces in the two axes are theoretically equal, and the specific force of the other axis is 0, so that various situations can exist in the axial direction under the condition.
According to the inventor's knowledge, the prior art, when using the technique of inertial navigation, has at least the following problems:
1. whether the carrier is static or not is judged according to the horizontal resultant speed output by the satellite navigation system, which has certain requirements on the precision and the stability of the satellite navigation system. When the satellite signal is weak or completely unlocked, the satellite navigation system cannot accurately judge whether the carrier is static or not, so that the sky axis and the forward axis cannot be identified, and the application of the satellite navigation system has great limitation;
2. in the prior art, any two mutually orthogonal shafts of the inertial sensor are required to be respectively parallel to the right axis and the forward axis of the carrier when the inertial sensor is applied. In actual installation, due to factors such as carrier space and manual operation, a certain inclination angle exists between the axial direction of the inertial sensor and the right-hand shaft and the forward-hand shaft of the carrier, and when the inclination angle is not negligible, the applicability of the prior art is greatly reduced.
3. Because the specific force output by the accelerometer comprises the motion acceleration and the gravity acceleration of the carrier, the influence of the gravity acceleration is not considered to be removed in the process of judging the forward axis of the carrier, and the result of time integration of the specific force output value of the accelerometer is directly used as a speed value. When the component of the gravitational acceleration is not negligible due to factors such as carrier inclination or non-horizontal installation, a misjudgment may occur.
Disclosure of Invention
Based on the situation, the invention provides a navigation method based on an inertial sensor, which mainly utilizes axial information of the inertial sensor; and obtaining the converted triaxial corresponding ratio force value and angular velocity value through matrix change operation, and calculating the position of the carrier by combining the initial position of the carrier, the converted triaxial corresponding ratio force value and angular velocity value. The characteristics of the inertial sensor are applied, and the axial directions are adaptively calculated and adjusted. The method realizes continuous seamless navigation under the condition of poor satellite signals and has great practical application value.
An inertial sensor-based navigation method, comprising the steps of: acquiring a first axial direction of a carrier inertial sensor, wherein the specific force direction of three axes is consistent with the direction of gravity acceleration g in a static state; obtaining from a state of rest to a state of motionNThe second shaft axis direction in each straight driving moment; acquiring a third axial direction according to the first axial direction and the second axial direction, and acquiring a three-axis corresponding ratio value and an angular velocity value of the inertial sensor; according to the aboveInclination angles of second and third axes of the inertial sensor and forward and right axes of the carrierAndperforming matrix conversion on the ratio values and the angular speed values corresponding to the three axes of the inertial sensor to obtain the converted ratio values and the converted angular speed values corresponding to the three axes; calculating the position of the carrier according to the initial position of the carrier, the converted three-axis corresponding ratio value and the angular velocity value; the first shaft, the second shaft and the third shaft are vertical to each other in pairs.
The invention also provides a navigation system based on the inertial sensor, which comprises: the system comprises an inertial sensor information acquisition module and a data processing module, wherein the inertial sensor information acquisition module and the data processing module are sequentially connected; the inertial sensor information acquisition module is used for acquiring a first axial direction in which the specific force direction of three axes of the inertial sensor of the carrier in a static state is consistent with the direction of the gravity acceleration g; obtaining from a state of rest to a state of motionNThe second shaft axis direction in each straight driving moment; acquiring a third axial direction according to the first axial direction and the second axial direction, and acquiring a three-axis corresponding ratio value and an angular velocity value of the inertial sensor; the data processing module is used for processing the inclination angles of the second shaft and the third shaft of the inertial sensor and the forward shaft and the right shaft of the carrier according to the inclination anglesAndperforming matrix conversion on the ratio values and the angular speed values corresponding to the three axes of the inertial sensor to obtain the converted ratio values and the converted angular speed values corresponding to the three axes; calculating the position of the carrier according to the initial position of the carrier, the converted three-axis corresponding ratio value and the angular velocity value; the first shaft, the second shaft and the third shaft are vertical to each other in pairs.
Compared with the prior art, the navigation method and the navigation system based on the inertial sensor, which are provided by the invention, apply the characteristics of the inertial sensor and adaptively calculate and adjust each axial direction. Whether the carrier is static or not can be accurately judged, the sky axis and the forward axis can be accurately identified, continuous seamless navigation is realized under the condition that satellite signals are not good, and the method has a high practical application value.
Drawings
FIG. 1 is a schematic flow chart diagram of an embodiment of an inertial sensor-based navigation method of the present invention;
FIG. 2 is a schematic axial representation of the matrix mapping in an inertial sensor based navigation method of the present invention;
FIG. 3 is a schematic diagram A of a matrix transformation in an inertial sensor-based navigation method of the present invention;
FIG. 4 is a schematic diagram B of a matrix transformation in an inertial sensor-based navigation method of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of an inertial sensor-based navigation system of the present invention.
Detailed Description
The invention will now be described in detail with reference to the preferred embodiments thereof. As shown in fig. 1, the inertial sensor includes a mutually orthogonal three-axis gyroscope and a mutually orthogonal three-axis accelerometer. The two shafts of the inertial sensor and the right shaft and the forward shaft of the carrier respectively have inclination anglesAnd. Inertial sensorIn the original axial direction ofX s Y s Z s Correctly identifying the axial direction with inclination angle between the axial direction and the carrier in the right and forward directionsX t Y t Z t The axial direction which is consistent with the right direction, the front direction and the sky direction of the carrier after the inclination angle is compensatedX b Y b Z b . The data employed by the method includes satellite navigation velocity information, angular velocity output of a gyroscope, and specific force output of an accelerometer. When the carrier is static, the accelerometer is only acted by gravity, and the carrier has larger motion acceleration in the forward direction in a short time from static to motion. The axial direction of the inertial sensor can be automatically identified based on the above features.
Fig. 2 is a schematic flow chart illustrating an embodiment of a vehicle-mounted integrated navigation method according to the present invention.
As shown in fig. 2, the method in this embodiment includes the steps of:
s101: acquiring a first axial direction of a carrier inertial sensor, wherein the specific force direction of three axes is consistent with the direction of gravity acceleration g in a static state; acquiring a second axial direction in N straight-line driving moments from a static state to a motion state; and acquiring a third axial direction according to the first axial direction and the second axial direction, and acquiring a three-axis corresponding ratio value and an angular velocity value of the inertial sensor.
Wherein the axial judgment step of the first shaft is as follows: specific force of three axes of inertial sensor、、Respectively with local gravitational accelerationgAnd (3) comparison:，，。、andare respectively an accelerometerX s Y s Z s The absolute value of the axial ratio force and the absolute value of the difference of the local gravity acceleration. When in useWhen it is, thenX s Shaft andZ t the axes are parallel. If it isIs positive, thenX s AndZ t the axial directions are the same; if it isIs negative, thenX s AndZ t the axial directions are opposite. When in useWhen it is, thenY s Shaft andZ t the axes are parallel. If it isIs positive, thenY s AndZ t the axial directions are the same; if it isIs negative, thenY s AndZ t the axial directions are opposite. When in useWhen it is, thenZ s Shaft andZ t the axes are parallel. If it isIs positive, thenZ s AndZ t the axial directions are the same; if it isIs negative, thenZ s AndZ t the axial directions are opposite. Wherein,is a critical threshold. At the same time, the specific force of other two axes is saved, and the specific force is the component of gravity accelerationAnd the mean is continuously calculated. Theoretically, the specific force in the upward direction at rest is g, the specific force in the downward direction is-g,X t Y t Z t inZ t The angle to the upward direction is relatively small, the direction specific force sum g is very close, andXtandYtthe specific force in the direction is small, so we can observe that in the accelerometer output,X s Y s Z s and judging whether the specific force of the axis is closer to the g. The value of (A) is small,X s Y s Z s the above condition is satisfied by one and only one of the three axes.
As a more preferable embodiment, in the case of uniform linear motion, the linear acceleration of the carrier is 0, and since the linear motion is adopted, the angular acceleration of the carrier is 0 (centripetal acceleration is generated during turning), and therefore, the output of the accelerometer in this case is a component of the gravitational acceleration, as in the case of stationary accelerometer and gyroscope. Therefore, the axial direction of the first shaft can be judged no matter in a static state or a uniform linear motion state.
The second axial direction determining step is as follows: for obtaining movement of the carrier from restNAcceleration of the second axle at the time of straight-line travel; judging whether the times that the acceleration of the second shaft is greater than a preset acceleration threshold value exceed preset times or not; if so, the carrier is in forward motion acceleration; if not, the carrier is in the acceleration of right-direction movement. Because the direction of the acceleration has a positive and negative part, when the forward motion acceleration is negative, the forward motion acceleration can be interpreted as the backward motion acceleration; similarly, the right motion acceleration may be interpreted as a left motion acceleration. The following examples are used for illustration:
in which the carrier is moved linearly from rest to motionNIn each moment, the motion acceleration of the second axis at each moment is calculated:，fis the specific force of the second axis and,is the component of the gravitational acceleration in the second axial direction. Because the carrier accelerates in the process, the forward motion acceleration is relatively large at some moment, and the right motion acceleration is relatively small all the time. Thus, the acceleration of motion is countedIs greater thanNumber of (2)M. When in useWhen it comes toTwo axes andY t the axes are parallel ifPositive, then the second axis andY t in the same direction ifNegative, then the second axis andY t the direction is opposite. Then the second axis andX t the axes are parallel ifPositive, then the second axis andX t in the same direction ifIf negative, the shaft is connected withX t The direction is opposite.
And if the judgment is successful, acquiring the second axial direction.And taking an empirical value.
And according to the axial determination results of the first shaft and the second shaft and according to a right-hand rule, determining the axial direction of the third shaft. And then, acquiring a triaxial corresponding ratio value and an angular velocity value of the inertial sensor according to the reading value of the inertial sensor.
S102: and performing matrix conversion on the corresponding ratio values and angular velocity values of the three axes of the inertial sensor according to the sum of the inclination angles of the second axis and the third axis of the inertial sensor and the forward axis and the right axis of the carrier, and acquiring the corresponding ratio values and angular velocity values of the three axes after conversion.
According toX t Y t Z t The axial determination result can be obtained by converting the data of the inertial sensor from the raw dataX s Y s Z s The axis being shifted to the right with respect to the carrierWith inclination in the forward and in the zenith directionX t Y t Z t A shaft.
Wherein,、、being an accelerometerX s Y s Z s The original specific force output of the shaft is,f tx 、f ty andf tz to switch over toX t Y t Z t The specific force value of the shaft is,、andbeing gyroscopesX s Y s Z s The original angular velocity output of the shaft,、andto switch over toX t Y t Z t Angular velocity of the shaft, fromX s Y s Z s Is pivoted toX t Y t Z t The axis is a 3-row 3-column conversion matrix with two elements 0 in any row and any column, and 1 or-1 in the other.
Derivation of the matrix may be as followsX s AndZ t the direction is the same as that of the first direction,Z s andY t the direction is opposite to that of the first direction,Y s andX t the opposite direction is taken as an example, the conversion of specific force is (angular velocity is similar): expressed in matrix, then, there are two elements 0 in any row and any column, and the other element is 1 or-1. Considering the sum of the inclination angles of the two axes of the inertial sensor with the right and forward axes of the carrier, willX t Y t Z t Off-axis inertial sensor data conversion to be coincident with carrier right, forward and skyX b Y b Z b A shaft.
Wherein,、andto switch over toX b Y b Z b The specific force value of the shaft is, 、andto switch over toX b Y b Z b Angular velocity of the shaft, fromX t Y t Z t Is pivoted toX b Y b Z b The axis is a 3 row 3 column conversion matrix.
Wherein, the calculation of the dip angle and the derivation of the transformation matrix:X t Y t Z t andX b Y b Z b misalignment, there is a rotational relationship.X b Y b Z b Wound aroundX b The shaft rotates toX 1 Y 1 Z 1 ，R b =[r bx r by r bz ]Is a vectorRIn thatX b Y b Z b The projection of the system under is determined,R 1 =[r 1x r 1y r 1z ]is thatRIn thatX 1 Y 1 Z 1 Is projected. The rotation is as shown in fig. 3, and the angle is positive in clockwise rotation. Due to winding aroundX b The shaft rotates, soX b AndX 1 the same direction is also true.
Then Expressed as a matrix
In the same way, the method for preparing the composite material,X 1 Y 1 Z 1 wound aroundY 1 The shaft rotates toX t Y t Z t ， R t =[r tx r ty r tz ]Is thatRIn thatX t Y t Z t Is projected. The rotation relationship is as shown in FIG. 4, the angle is positive according to clockwise rotation, due to the windingY 1 The shaft rotates, soY 1 AndY t the same direction is also true.
ThenExpressed as a matrix，
Two rotations can be expressed as,
the calculation of the inclination angle mainly comprises the steps that the inertial sensor is installed on a carrier, the carrier is horizontally arranged, and the inclination angle can be calculated through the specific force of the accelerometer at the static momentAnd. According to the axial judgment result, the specific force output by the accelerometer can be converted intoX t Y t Z t, . Namely, it is
Since the transformation matrix between the three-dimensional rectangular coordinate systems is an orthonormal matrix of units, i.e.
，，
Wherein, the superscript-1 represents the matrix inversion, superscriptTRepresenting a matrix transposition.
When the carrier is placed horizontally, thenX b AndY b the specific force in the direction is 0,Z b a specific force in the direction of g is
Therefore, the sum of the tilt angles is calculated as:
wherein,,is a coordinate systemX s Y s Z s ToX t Y t Z t The transformation matrix of (a) is,、、the specific force of three axes of the inertial sensor,gIs the acceleration of gravity.
S103: and calculating the position of the carrier according to the initial position of the carrier, the converted three-axis corresponding ratio value and the angular velocity value.
、Andthe speed increment of the carrier in the right direction, the forward direction and the sky direction can be calculated through the first integral after the influence of the gravity acceleration is removed, and the displacement increment of the carrier in the right direction, the forward direction and the sky direction can be calculated through the second integral.、Andthe angular increment of the carrier can be calculated by one integration for the angular velocity of the carrier rotating around the right, forward and sky directions. And then calculating the current position, speed and angle of the carrier according to the initial position, initial speed and initial angle. In the stationary condition, the initial velocity defaults to 0 and the initial angle is calculated from the accelerometer specific force. In the state of uniform linear motion, the initial position, the initial speed and the initial angle at the moment of inertial navigation need to be obtained to calculate the current position, the speed and the angle of the carrier.
The technology can accurately judge whether the carrier is static or not, accurately identify the vertical axis and the forward axis, and has great practical application value. Meanwhile, the defect of poor satellite navigation signals can be greatly overcome through the characteristics of the inertial sensor, and continuous seamless navigation is realized.
As shown in fig. 5, the system module in the present embodiment includes:
the device comprises an inertial sensor information acquisition module, a data processing module and a display module, wherein the modules are connected in sequence.
The inertial sensor information acquisition module is used for acquiring a first axial direction in which the specific force direction of three axes of the inertial sensor of the carrier in a static state is consistent with the direction of the gravity acceleration g; obtaining from a state of rest to a state of motionNThe second shaft axis direction in each straight driving moment; acquiring a third axial direction according to the first axial direction and the second axial direction, and acquiring a three-axis corresponding ratio value and an angular velocity value of the inertial sensor; the data processing module is used for processing the inclination angles of the second shaft and the third shaft of the inertial sensor and the forward shaft and the right shaft of the carrier according to the inclination anglesAndperforming matrix conversion on the ratio values and the angular speed values corresponding to the three axes of the inertial sensor to obtain the converted ratio values and the converted angular speed values corresponding to the three axes; calculating the position of the carrier according to the initial position of the carrier, the converted three-axis corresponding ratio value and the angular velocity value; the first shaft, the second shaft and the third shaft are vertical to each other in pairs.
And the display module is used for receiving the vehicle speed information and the position transmitted by the data processing module and outputting corresponding information for a vehicle-mounted terminal (carrier) to use.
The application of the system embodiment of the present invention is based on the method embodiment, and the technical features in the method embodiment can also be used to solve the corresponding problems, so that the beneficial effects brought by the system embodiment of the present invention are consistent with the method embodiment, and will not be described repeatedly here.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. An inertial sensor-based navigation method, comprising the steps of: acquiring a first axial direction of a carrier inertial sensor, wherein the specific force direction of three axes is consistent with the direction of gravity acceleration g in a static state; obtaining from a state of rest to a state of motionNThe second shaft axis direction in each straight driving moment; acquiring a third axial direction according to the first axial direction and the second axial direction, and acquiring a three-axis corresponding ratio value and an angular velocity value of the inertial sensor; according to the second and third axes of the inertial sensor and the forward and right axes of the carrierInclination angleAndperforming matrix conversion on the ratio values and the angular speed values corresponding to the three axes of the inertial sensor to obtain the converted ratio values and the converted angular speed values corresponding to the three axes; calculating the position of the carrier according to the initial position of the carrier, the converted three-axis corresponding ratio value and the angular velocity value; the first shaft, the second shaft and the third shaft are vertical to each other in pairs.
2. The navigation method according to claim 1, wherein the second axial direction obtaining method comprises: acquiring the acceleration of a second shaft in N straight-line driving moments of the carrier from a static state to a motion state; judging whether the times that the acceleration of the second shaft is greater than a preset acceleration threshold value exceed preset times or not; if so, the second axial direction is forward; and if not, the axial direction of the second shaft is the right direction.
3. The navigation method according to claim 1, characterized in that the second axis is inclined to the forward axis of the vehicleThe inclination angle of the third axis to the right axis of the carrierWherein，is a coordinate systemX s Y s Z s ToX t Y t Z t The transformation matrix of (a) is,、、the specific force of three axes of the inertial sensor is g, and the gravity acceleration is g.
4. An inertial sensor-based navigation method, comprising the steps of: acquiring a first axial direction of a carrier inertial sensor, wherein the specific force direction of three axes is consistent with the direction of gravity acceleration g under the state of uniform linear motion; for obtaining a state from uniform linear motion to variable speed motionNThe second shaft axis direction in each straight driving moment; acquiring a third axial direction according to the first axial direction and the second axial direction, and acquiring a three-axis corresponding ratio value and an angular velocity value of the inertial sensor; according to the inclination angles of the second shaft and the third shaft of the inertial sensor and the forward shaft and the right shaft of the carrierAndperforming matrix conversion on the ratio values and the angular speed values corresponding to the three axes of the inertial sensor to obtain the converted ratio values and the converted angular speed values corresponding to the three axes; calculating the current position, speed and angular speed of the carrier according to the initial position, initial speed and initial angular speed of the carrier and the converted ratio value and angular speed value corresponding to the three axes; the first shaft, the second shaft and the third shaft are vertical to each other in pairs.
5. The navigation method according to claim 4, wherein the second axial direction obtaining method comprises: acquiring the acceleration of a second shaft in N straight-line driving moments of the carrier from a uniform-speed straight-line motion state to a variable-speed motion state; judging whether the times that the acceleration of the second shaft is greater than a preset acceleration threshold value exceed preset times or not; if so, the second axial direction is forward; and if not, the axial direction of the second shaft is the right direction.
6. The navigation method according to claim 4, characterized in that the second axis is inclined to the forward axis of the vehicleThe inclination angle of the third axis to the right axis of the carrierWherein，is a coordinate systemX s Y s Z s ToX t Y t Z t The transformation matrix of (a) is,、、the specific force of three axes of the inertial sensor is g, and the gravity acceleration is g.
7. An inertial sensor-based navigation system, comprising: the system comprises an inertial sensor information acquisition module and a data processing module, wherein the inertial sensor information acquisition module and the data processing module are sequentially connected; the inertial sensor information acquisition module is used for acquiring a first axial direction in which the specific force direction of three axes of the inertial sensor of the carrier in a static state is consistent with the direction of the gravity acceleration g; obtaining from a state of rest to a state of motionNThe second shaft axis direction in each straight driving moment; acquiring a third axial direction according to the first axial direction and the second axial direction, and acquiring a three-axis corresponding ratio value and an angular velocity value of the inertial sensor; the data processing module is used for processing the inclination angles of the second shaft and the third shaft of the inertial sensor and the forward shaft and the right shaft of the carrier according to the inclination anglesAndperforming matrix conversion on the ratio values and the angular speed values corresponding to the three axes of the inertial sensor to obtain the converted ratio values and the converted angular speed values corresponding to the three axes; calculating the position of the carrier according to the initial position of the carrier, the converted three-axis corresponding ratio value and the angular velocity value; the first shaft, the second shaft and the third shaft are vertical to each other in pairs.
8. The navigation method according to claim 7, wherein the second axial direction obtaining method comprises: acquiring the acceleration of a second shaft in N straight-line driving moments of the carrier from a static state to a motion state; judging whether the times that the acceleration of the second shaft is greater than a preset acceleration threshold value exceed preset times or not; if so, the second axial direction is forward; and if not, the axial direction of the second shaft is the right direction.
9. The navigation method according to claim 7, wherein the second axis is at an inclination to a forward axis of the carrierThe inclination angle of the third axis to the right axis of the carrierWherein，is a coordinate systemX s Y s Z s ToX t Y t Z t The transformation matrix of (a) is,、、the specific force of three axes of the inertial sensor is g, and the gravity acceleration is g.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110702105A (en) * | 2019-10-12 | 2020-01-17 | 展讯通信（上海）有限公司 | Axial recognition method and device for navigation device and storage medium |
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