CN104457789A - Inertial-navigation-based parameter correcting method and device - Google Patents
Inertial-navigation-based parameter correcting method and device Download PDFInfo
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- CN104457789A CN104457789A CN201410695910.6A CN201410695910A CN104457789A CN 104457789 A CN104457789 A CN 104457789A CN 201410695910 A CN201410695910 A CN 201410695910A CN 104457789 A CN104457789 A CN 104457789A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention is applicable to the field of navigation, and provides an inertial-navigation-based parameter correcting method and an inertial-navigation-based parameter correcting device. The inertial-navigation-based parameter correcting method comprises the following steps: acquiring inertial data collected by an inertial component during inertial navigation; based on the inertial data, calculating a navigation position through an inertial navigation algorithm; comparing the navigation position and a reference position to obtain a comparison result; according to the comparison result, correcting an inertial parameter of the inertial component. Through the method and the device, the inertial parameter can be corrected in a self-adaptive way according to the comparison result, so that navigating and positioning precision of the inertial navigation can be ensured.
Description
Technical field
The invention belongs to navigation field, particularly relate to a kind of parameter correction method based on inertial navigation and device.
Background technology
Satellite navigation has the advantages such as Global coverage, precision be reliable, is widely used in the various fields such as auto navigation.But for cannot the region (as places such as urban canyons, tunnel, underground parkings) of effective receiving satellite signal, satellite navigation be then helpless.For addressing this problem, satellite navigation and inertial sensor (comprising gyroscope, accelerometer, odometer etc.) can be combined, realizing continuous continual integrated navigation.
Inertial navigation need use inertia device, but the navigation position that the inertial parameter of inertia device (comprising gyroscope zero instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially) can cause inertial navigation to be oriented along with the time is dispersed gradually, thus affects the navigation and positioning accuracy of inertial navigation.
Summary of the invention
The object of the present invention is to provide a kind of parameter correction method based on inertial navigation and device, with solve prior art use inertia device to carry out inertial navigation time, the problem of navigation and positioning accuracy can be affected because of the deviation of inertial parameter caused along with the time.
First aspect, the invention provides a kind of parameter correction method based on inertial navigation, and the described parameter correction method based on inertial navigation comprises:
Obtain the inertial data that inertia device gathers when inertial navigation;
Based on described inertial data, calculate navigation position with inertial navigation algorithm;
More described navigation position and reference position, and obtain comparative result;
According to described comparative result, revise the inertial parameter of inertia device, described inertial parameter comprises: gyroscope zero is instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially.
Second aspect, the invention provides a kind of parameters revision device based on inertial navigation, and the described parameters revision device based on inertial navigation comprises:
Collecting unit, for obtaining the inertial data that inertia device gathers when inertial navigation;
Computing unit, for based on described inertial data, calculates navigation position with inertial navigation algorithm;
Comparing unit, for more described navigation position and reference position, and obtains comparative result;
Amending unit, for according to described comparative result, revise the inertial parameter of inertia device, described inertial parameter comprises: gyroscope zero is instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially.
Beneficial effect of the present invention: during inertial navigation, the navigation position calculated by inertial navigation algorithm in real time compares with reference position and draws comparative result, according to this comparative result adjustment inertial parameter; Thus adaptively according to comparative result correction inertial parameter, the navigation and positioning accuracy of inertial navigation can be ensured.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the workflow diagram of the parameter correction method based on inertial navigation that the embodiment of the present invention provides;
Fig. 2 is a kind of optimized work flow figure of the parameter correction method based on inertial navigation that the embodiment of the present invention provides;
Fig. 3 is another the optimized work flow figure of the parameter correction method based on inertial navigation that the embodiment of the present invention provides;
Fig. 4 is the composition structure of the parameters revision device based on inertial navigation that the embodiment of the present invention provides;
Fig. 5 is the one optimization composition structure of the parameters revision device based on inertial navigation that the embodiment of the present invention provides;
Fig. 6 is another the optimization composition structure of the parameters revision device based on inertial navigation that the embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In order to technical solutions according to the invention are described, be described below by specific embodiment.
The parameter correction method based on inertial navigation described in the embodiment of the present invention is applicable to all occasions needing inertial navigation, is particularly useful for the vehicle needing inertial navigation.
What deserves to be explained is, because of the inertial parameter of inertia device, directly affect the navigator fix degree of accuracy of inertial navigation; But along with time variations or some particular application, the inertial parameter of inertia device can occur zero inclined.Given this, embodiments provide the parameter correction method based on inertial navigation, the inertial parameter of inertia device can be revised according to navigator fix result adaptively.
As shown in Figure 1, the basic steps comprised based on the parameter correction method of inertial navigation that the embodiment of the present invention provides is roughly three steps, comprises steps A 1, steps A 2, steps A 3 and steps A 4.
Steps A 1, obtains the inertial data that inertia device gathers when inertial navigation.
Inertia device described in the embodiment of the present invention, refer to for sense angular rate, angular acceleration, linear velocity and linear acceleration etc. and by inertia quantize device; Inertia is quantized the data of gained as inertial data, such as magnitude of angular velocity, angular acceleration values, linear speed angle value and linear acceleration value simultaneously.
Illustrate, gyroscope installed by vehicle, by this gyroscope, the turn angular velocity that causes and/or angular acceleration are gathered at Ackermann steer angle, and collect magnitude of angular velocity and/or angular acceleration values.
Illustrate again, on vehicle, hookup wire acceleration transducer (is a kind of accelerometer, such as gravity sensor), when its straight line travels by this linear acceleration transducer to driving process in the speed of vehicle and/or linear acceleration gather, and collect velocity amplitude and/or linear acceleration value.
In embodiments of the present invention, when needing inertial navigation, inertia device can be adopted when inertial navigation to carry out the collection of inertial data.
Steps A 2, based on described inertial data, calculates navigation position with inertial navigation algorithm.Specifically to carry out inertial navigation to vehicle, steps A 2 is described in detail in detail as follows:
Before steps A 2, in vehicle travel process, orient the initial position location of of vehicle by location and navigation technology in advance.Then in steps A 2, on the basis of this initial position location, from orienting the time point of this initial position location, continue to obtain the described inertial data of vehicle, and according to the travel direction of the described inertial data determination vehicle of lasting acquisition and travel speed to determine described navigation position; In the present embodiment, after orienting this initial position location, when continuing the described inertial data obtaining vehicle, and in the process of lasting acquisition, adopt inertial navigation algorithm in real time based on the position location that this is initial and calculate described navigation position in conjunction with described inertial data.
Present embodiment, to the implementation how determining initial position location, does not limit; Such as, adopt GPS (Global Positioning System, GPS) before steps A 2, orient an initial position location; Again such as, adopt GPS (Global Position System) (Global NavigationSatellite System, GNSS) before steps A 2, orient an initial position location.
Steps A 3, more described navigation position and reference position, and obtain comparative result.
It should be noted that, described reference position refer to through experiment be defined as the position higher than the setting accuracy of described navigation position.But the embodiment of the present invention, to the specific implementation how determining described reference position, does not limit.
As the embodiment determining described reference position, the higher inertia device of degree of accuracy is adopted to carry out the position of inertial navigation gained.
In embodiments of the present invention, the more described navigation position of steps A 3 and reference position obtain comparative result; Wherein, the concrete manner of comparison for more described navigation position and reference position comprises: the number of the described navigation position of the difference of described navigation position and reference position within the scope of preset difference value that calculate the difference of described navigation position and reference position, calculate the mean square deviation of described navigation position and described reference position, add up.
Steps A 4, according to described comparative result, revise the inertial parameter of inertia device, described inertial parameter comprises: gyroscope zero is instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially.
In embodiments of the present invention, determining the error between described navigation position and reference position according to described comparative result, because there is error between described navigation position and reference position, according to this error, inertial parameter being revised; But the embodiment of the present invention to which kind of algorithm of employing to process this error not to be limited, according to this algorithm, modified value is gone out to this Error processing, then using this modified value, zero inclined correction is carried out to inertial parameter: is added this modified value is as revised zero point current zero point.
Preferably, the computational algorithm of the modified value of the error calculation angular acceleration of the angular acceleration comprised according to described comparative result, the computational algorithm of the modified value of the error calculation angular velocity of angular velocity comprised according to described comparative result, the computational algorithm of the modified value of the error calculation linear acceleration of linear acceleration comprised according to described comparative result, the computational algorithm of the modified value of the error calculation linear velocity of linear velocity that comprises according to described comparative result can be different algorithms, and the degree of accuracy specifically partially can revised according to zero is selected.
In embodiments of the present invention, described inertial parameter is: need partially combine with zero point and zero parameter determining inertial data.But zero point when inertia device dispatches from the factory is determined, so the embodiment of the present invention is not revised; But along with time remaining or special occasions, need revising zero point when dispatching from the factory, thus the embodiment of the present invention is only revised (comprising gyroscope zero instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially) described inertial parameter; Need current determine inertial data time, is added current zero partially as current zero point zero point when dispatching from the factory, then just with current zero point for benchmark determines current inertial data.
As the embodiment of the present invention one embodiment, pre-determine the first variance scope comprising the inclined instability variance of multiple described gyroscope zero, pre-determine the second variance scope comprising multiple described accelerometer bias instability variance, pre-determine the third party's difference scope comprising multiple described gyroscope random walk noise variance, pre-determine the 4th variance scope comprising multiple described accelerometer random walk noise variance, travel through the variance value that described first variance scope comprises successively, the variance value that described second variance scope comprises, the variance value that described third party's difference scope comprises and the variance value that described 4th variance scope comprises, perform steps A 1 all successively, steps A 2, steps A 3 and steps A 4 determine an optimum described inertial parameter, comprise: optimum described gyroscope zero is instability variance partially, optimum described accelerometer bias instability variance, optimum described gyroscope random walk noise variance, optimum described accelerometer random walk noise variance.
Fig. 2 shows a kind of optimized work flow of the parameter correction method based on inertial navigation that the embodiment of the present invention provides, but illustrate only the part relevant to the embodiment of the present invention.
As an embodiment of the embodiment of the present invention, see Fig. 2, the described parameter correction method based on inertial navigation also comprises steps A 5.
Steps A 5, obtain the position location of satnav gained, Horizontal Dilution of Precision and First Speed, adjust described Horizontal Dilution of Precision according to the first error factor and obtain position dilution of precision, adjust described Horizontal Dilution of Precision according to the second error factor and obtain the velocity accuracy factor.
In the present embodiment, when calculating navigation position with inertial navigation technology, not only according to current inertial data, also according to the current position location of satnav gained, current Horizontal Dilution of Precision and current speed, current navigation position is estimated.
To carry out satnav to vehicle, travel the position location of satnav gained in different environments because of vehicle and First Speed all exists certain error, not precisely.Therefore present embodiment adopts described position dilution of precision to adjust described position location, and adjustment obtains position location more accurately; Wherein, described position dilution of precision is adjusted described Horizontal Dilution of Precision by the first error factor and obtains, and described Horizontal Dilution of Precision is directly obtained by satellite receiver; Illustrate, the first error factor is multiplied with the described position dilution of precision obtained from satellite receiver, is multiplied and obtains described position dilution of precision.Similarly, present embodiment adopts the described velocity accuracy factor to adjust described First Speed, and adjustment obtains speed more accurately; Wherein, present embodiment adjusts with the described Horizontal Dilution of Precision of described second error factor to satnav gained and obtains the velocity accuracy factor; Particularly, the second error factor is multiplied with the Horizontal Dilution of Precision of stating obtained from satellite receiver, is multiplied and obtains representing the velocity accuracy factor.
Corresponding to steps A 2, describedly calculate this step of navigation position based on described inertial data with inertial navigation algorithm and be specially steps A 21.
Steps A 21, based on described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, calculate navigation position with Integrated Navigation Algorithm, described inertial navigation algorithm comprises described Integrated Navigation Algorithm.
In present embodiment, carry out the estimation of described navigation position in conjunction with described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, estimate that the algorithm that described navigation position adopts is described Integrated Navigation Algorithm.But the concrete structure of present embodiment to described Integrated Navigation Algorithm does not limit, such as, existing described Integrated Navigation Algorithm is adopted to estimate described navigation position in conjunction with described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor.
Accordingly, described navigation position and reference position after obtaining this step of comparative result, the described parameter correction method based on inertial navigation also comprises steps A 6.
Steps A 6, according to described comparative result, revises described first error factor and described second error factor.
Vehicle travels in different environments, position dilution of precision for adjusting the position location of satnav gained can be different, so accurately determine position dilution of precision as being desirably in when getting Horizontal Dilution of Precision, then need the numerical value adjusting described first error factor according to varying environment in real time.Because of vehicle travel in different environments time, the velocity accuracy factor for adjusting the First Speed of satnav gained can be different, so accurately determine the velocity accuracy factor as being desirably in when learning Horizontal Dilution of Precision, then need the numerical value adjusting described second error factor according to varying environment in real time.In the present embodiment, the correction of described first error factor and described second error factor is revised according to being: the comparative result of the described navigation position that described Integrated Navigation Algorithm estimates and described reference position.But present embodiment realizes the first error factor and described second error factor according to the comparative result correction stating described navigation position that Integrated Navigation Algorithm estimates and described reference position to adopting which kind of correction algorithm, does not all limit.
As a preferred implementation of the embodiment of the present invention, describedly calculate this step of navigation position based on described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor with Integrated Navigation Algorithm and be specially:
Kalman filtering is carried out to described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, obtains described navigation position.
Particularly, before steps A 2, in vehicle travel process, orient the initial position location of of vehicle by location and navigation technology in advance, estimate the 4th position location and the 4th speed according to described inertial data and this initial position location.Then the corresponding alternate position spike calculating the 4th position location and the second position location (adjustment of the position location of satnav gained being obtained by position dilution of precision), with the velocity contrast of calculating the 4th speed and second speed (being obtained by the First Speed adjustment of velocity accuracy factor pair satnav gained), described alternate position spike and described velocity contrast are carried out Kalman filtering as the input of Kalman filtering, and value Kalman filtering filtering exported is as described navigation position.
Fig. 3 shows a kind of optimized work flow of the parameter correction method based on inertial navigation that the embodiment of the present invention provides, but illustrate only the part relevant to the embodiment of the present invention.
As an embodiment of the embodiment of the present invention, see Fig. 3, the described parameter correction method based on inertial navigation also comprises steps A 7.
Steps A 7, obtains the 3rd position location that satnav goes out, using described 3rd position location as described reference position.
In the present embodiment, in vehicle travel process, orient the initial position location of of vehicle by location and navigation technology in advance before steps A 2.Then, in the time period not by satnav, continue to perform steps A 1 and obtain inertial data, and the inertial data obtained according to steps A 1 in real time calculates navigation position with inertial navigation algorithm, circulation performs steps A 1 and steps A 2 and carries out inertial navigation and in this time period continuous updating navigation position.Then, can by the time period of satnav, satnav goes out the 3rd position location and using the 3rd position location as with reference to position, then perform the more described navigation position of steps A 3 and reference position and obtain comparative result, then steps A 4 is performed according to described comparative result, the inertial parameter of inertia device is revised, perform steps A 1, steps A 2, steps A 3 and steps A 4 at this time period Inner eycle and carry out inertial navigation, in this time period continuous updating navigation position, simultaneously also at this time period continuous updating correction inertial parameter.
As the embodiment of the present invention one embodiment, when the more described navigation position of steps A 3 and reference position, the comparative result that Xu calculates includes but not limited to: the mean square deviation of the maximum error of described navigation position and described reference position, described navigation position and described reference position.
Illustrate, steps A 3 calculates the difference of described navigation position and reference position, and using the maximum error of this difference as described navigation position and described reference position.
Illustrate, steps A 3 calculates the mean square deviation of described navigation position and described reference position.
Illustrate, steps A 3 adds up the number of the described navigation position of difference within the scope of preset difference value of described navigation position and reference position again, using the number of statistics as the comparative result corresponding with this preset difference value scope.It should be noted that, this preset difference value scope needs people for presetting.
Those of ordinary skill in the art it is also understood that, the all or part of step realized in above-described embodiment method can have been come by programmed instruction and relevant hardware, described program can be stored in a computer read/write memory medium, described storage medium, comprises ROM/RAM, disk, CD etc.
It should be noted that, the parameter correction method based on inertial navigation that the embodiment of the present invention provides is applicable to the parameters revision device based on inertial navigation that the embodiment of the present invention provides.
Fig. 4 shows the composition structure of the parameters revision device based on inertial navigation that the embodiment of the present invention provides, and for convenience of description, illustrate only the part relevant to the embodiment of the present invention.
The parameters revision device based on inertial navigation that the present embodiment provides, as shown in Figure 4, the described parameters revision device based on inertial navigation comprises:
Collecting unit 41, for obtaining the inertial data that inertia device gathers when inertial navigation;
Computing unit 42, for based on described inertial data, calculates navigation position with inertial navigation algorithm;
Comparing unit 43, for more described navigation position and reference position, and obtains comparative result;
Amending unit 44, for according to described comparative result, revise the inertial parameter of inertia device, described inertial parameter comprises: gyroscope zero is instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially.
Fig. 5 shows the one optimization composition structure of the parameters revision device based on inertial navigation that the embodiment of the present invention provides, and for convenience of description, illustrate only the part relevant to the embodiment of the present invention.
As the embodiment of the present invention one embodiment, as shown in Figure 5, the described parameters revision device based on inertial navigation also comprises positioning unit 45, described positioning unit 45 for: obtain the position location of satnav gained, Horizontal Dilution of Precision and First Speed, adjust described Horizontal Dilution of Precision according to the first error factor and obtain position dilution of precision, adjust described Horizontal Dilution of Precision according to the second error factor and obtain the velocity accuracy factor;
Described computing unit 42 specifically for: based on described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, calculate navigation position with Integrated Navigation Algorithm, described inertial navigation algorithm comprises described Integrated Navigation Algorithm;
Described amending unit 44 also for: according to described comparative result, revise described first error factor and described second error factor.
As the embodiment of the present invention one embodiment, described computing unit 42 specifically for: Kalman filtering is carried out to described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, obtains described navigation position.
Fig. 6 shows the one optimization composition structure of the parameters revision device based on inertial navigation that the embodiment of the present invention provides, and for convenience of description, illustrate only the part relevant to the embodiment of the present invention.
As the embodiment of the present invention one embodiment, as shown in Figure 6, the described parameters revision device based on inertial navigation comprises with reference to determining unit 46;
Described with reference to determining unit 46 for: obtain the 3rd position location that goes out of satnav, using described 3rd position location as described reference position.
As the embodiment of the present invention one embodiment, described comparative result comprises: the mean square deviation of the maximum error of described navigation position and described reference position, described navigation position and described reference position.
It will be appreciated by those skilled in the art that for the embodiment of the present invention provide based on inertial navigation parameters revision device included by unit just carry out dividing according to function logic, but be not limited to above-mentioned division, as long as corresponding function can be realized; In addition, the concrete title of each functional unit, also just for the ease of mutual differentiation, is not limited to protection scope of the present invention.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention; make some equivalent alternative or obvious modification without departing from the inventive concept of the premise; and performance or purposes identical, all should be considered as belonging to the scope of patent protection that the present invention is determined by submitted to claims.
Claims (10)
1. based on a parameter correction method for inertial navigation, it is characterized in that, the described parameter correction method based on inertial navigation comprises:
Obtain the inertial data that inertia device gathers when inertial navigation;
Based on described inertial data, calculate navigation position with inertial navigation algorithm;
More described navigation position and reference position, and obtain comparative result;
According to described comparative result, revise the inertial parameter of inertia device, described inertial parameter comprises: gyroscope zero is instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially.
2., as claimed in claim 1 based on the parameter correction method of inertial navigation, it is characterized in that,
The described parameter correction method based on inertial navigation also comprises: obtain the position location of satnav gained, Horizontal Dilution of Precision and First Speed, adjust described Horizontal Dilution of Precision according to the first error factor and obtain position dilution of precision, adjust described Horizontal Dilution of Precision according to the second error factor and obtain the velocity accuracy factor;
Describedly calculate this step of navigation position based on described inertial data with inertial navigation algorithm and be specially: based on described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, calculate navigation position with Integrated Navigation Algorithm, described inertial navigation algorithm comprises described Integrated Navigation Algorithm;
Described navigation position and reference position after obtaining this step of comparative result, the described parameter correction method based on inertial navigation also comprises: according to described comparative result, revises described first error factor and described second error factor.
3. as claimed in claim 2 based on the parameter correction method of inertial navigation, it is characterized in that, describedly calculate this step of navigation position based on described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor with Integrated Navigation Algorithm and be specially:
Kalman filtering is carried out to described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, obtains described navigation position.
4., as claimed in claim 1 based on the parameter correction method of inertial navigation, it is characterized in that, the described parameter correction method based on inertial navigation also comprises:
Obtain the 3rd position location that satnav goes out, using described 3rd position location as described reference position.
5. the parameter correction method based on inertial navigation as described in any one of Claims 1-4, is characterized in that, described comparative result comprises: the mean square deviation of the maximum error of described navigation position and described reference position, described navigation position and described reference position.
6. based on a parameters revision device for inertial navigation, it is characterized in that, the described parameters revision device based on inertial navigation comprises:
Collecting unit, for obtaining the inertial data that inertia device gathers when inertial navigation;
Computing unit, for based on described inertial data, calculates navigation position with inertial navigation algorithm;
Comparing unit, for more described navigation position and reference position, and obtains comparative result;
Amending unit, for according to described comparative result, revise the inertial parameter of inertia device, described inertial parameter comprises: gyroscope zero is instability variance, accelerometer bias instability variance, gyroscope random walk noise variance and accelerometer random walk noise variance partially.
7., as claimed in claim 6 based on the parameters revision device of inertial navigation, it is characterized in that,
The described parameters revision device based on inertial navigation also comprises positioning unit, described positioning unit is used for: obtain the position location of satnav gained, Horizontal Dilution of Precision and First Speed, adjust described Horizontal Dilution of Precision according to the first error factor and obtain position dilution of precision, adjust described Horizontal Dilution of Precision according to the second error factor and obtain the velocity accuracy factor;
Described computing unit specifically for: based on described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, calculate navigation position with Integrated Navigation Algorithm, described inertial navigation algorithm comprises described Integrated Navigation Algorithm;
Described amending unit also for: according to described comparative result, revise described first error factor and described second error factor.
8., as claimed in claim 7 based on the parameters revision device of inertial navigation, it is characterized in that,
Described computing unit specifically for: Kalman filtering is carried out to described inertial data, described position location, described First Speed, described position dilution of precision and the described velocity accuracy factor, obtains described navigation position.
9. as claimed in claim 6 based on the parameters revision device of inertial navigation, it is characterized in that, the described parameters revision device based on inertial navigation comprises with reference to determining unit;
Described reference determining unit is used for: obtain the 3rd position location that satnav goes out, using described 3rd position location as described reference position.
10. the parameters revision device based on inertial navigation as described in any one of claim 6 to 9, it is characterized in that, described comparative result comprises: the mean square deviation of the maximum error of described navigation position and described reference position, described navigation position and described reference position.
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| CN105628056A (en) * | 2016-03-31 | 2016-06-01 | 北京航空航天大学 | Fine filtering method and test platform for random walk noise of gyroscope |
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