CN112284415B - Odometer scale error calibration method, system and computer storage medium - Google Patents
Odometer scale error calibration method, system and computer storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of metering, and discloses a method and a system for calibrating a scale error of a speedometer and a computer storage medium, which are used for realizing high-precision navigation. The method comprises the following steps: obtaining a reference track through inertial navigation and RTK combination; calculating a horizontal track of the vehicle through an odometer; and comparing the reference track with the horizontal track to estimate the scale error of the odometer.
Description
Technical Field
The invention relates to the technical field of metering, in particular to a method and a system for calibrating scale errors of a speedometer and a computer storage medium.
Background
On autonomous vehicles, a combination of inertial navigation and odometer is often used to provide higher navigation accuracy, avoiding the increase in pure inertial navigation error over time. The odometer can realize complete autonomous navigation by outputting position increment information and utilizing a dead reckoning algorithm, but the odometer is influenced by factors such as vehicle tire abrasion, tire air pressure, vehicle load and the like, so that scale errors are changed, the precision of combined navigation is influenced, and the scale errors of the odometer need to be calibrated.
The traditional calibration method mainly comprises zero speed correction, track similarity correction and GPS auxiliary calibration. The zero-speed correction is to use inertial navigation as a position reference and to calibrate the odometer scale factor by using inertial navigation information subjected to zero-speed correction. However, the method needs periodic parking to realize calibration, is inconvenient to use and cannot meet the requirements of practical application; the track similarity calibration method is to compare the tracks of the odometer by using a high-precision reference track so as to realize calibration of scale factor errors, and the method has good precision but has the difficulty that the high-precision reference track is obtained; the GPS-assisted calibration uses the position information provided by GPS with high accuracy as a reference, but is limited by the independency, and is not effective in the places where the GPS signal is weak or absent.
Disclosure of Invention
The invention mainly aims to disclose a method and a system for calibrating scale errors of a speedometer and a computer storage medium so as to realize high-precision navigation.
In order to achieve the purpose, the invention discloses a method for calibrating the scale error of a speedometer, which comprises the following steps:
obtaining a reference track by combining inertial navigation and RTK (Real-time kinematic, carrier-phase differential technology);
calculating a horizontal track of the vehicle through an odometer;
and comparing the reference track with the horizontal track to estimate the scale error of the odometer.
Preferably, the solving process of the reference trajectory comprises:
defining the transverse rolling axis of the inertial navigation carrier as y b Axis pointing directly in front of inertial navigation, pitch axis being x b Axis pointing to the right of inertial navigation and course axis z b Axis, pointing in the direction of gravity, towards the sky, x b 、y b 、z b Three axes conform to the right hand coordinate system, x b 、y b 、z b Is marked as b is;
defining a navigation coordinate system x n The axis pointing east, y n The axis pointing north, z n The axis points to the sky, x n 、y n 、z n Is marked as n series;
the measuring coordinate system of the mileage gauge is a right-front-upper right-hand rectangular coordinate system fixedly connected with the vehicle body and recorded as an m system, oy system m The shaft is arranged in a plane contacted with the vehicle-carrying wheels and points to the right front of the vehicle body; oz m The axis is positive perpendicular to the ground plane; ox m The axis points to the right;
selecting system state parameters, and recording the state quantity as:
delta r is inertial navigation position error, delta v is inertial navigation speed error, phi is inertial navigation attitude angle error,is zero offset, δ f, of the gyro b Is the accelerometer zero offset;
establishing an inertial navigation attitude error equation as follows:wherein the content of the first and second substances,is the derivative of phi and is,in order to navigate the gyro measurement error under the coordinate system,the error is calculated for the navigation coordinate system,representing a rotation of the navigation coordinate system relative to the inertial navigation coordinate system;
the rotation of the navigation coordinate system due to the rotation of the earth,moving a navigation coordinate system rotation caused by earth surface curvature near the earth surface for the system;
the velocity error equation is:wherein v is n 、δv n Respectively the speed and the speed error in the navigation coordinate system,is δ v n The derivative of (a) is determined,to navigate the accelerometer measurements in the coordinate system,in order to navigate the accelerometer measurement error in the coordinate system,δg n respectively calculating errors of the spin angular velocity of the earth under the navigation coordinate system, rotation calculation errors and gravity errors;
the inertial navigation position error equation is as follows:
l, λ and h respectively represent latitude, longitude and altitude, δ L, δ λ and δ h respectively represent latitude error, longitude error and altitude error,andderivatives of δ L, δ λ and δ h, R M Is the radius of the meridian principal curvature; r N The radius of main curvature of the mortise and unitary ring;
recording inertial navigation velocity component v n =[v E v N v U ] T ;
Velocity error component δ v n =[δv E δv N δv U ] T ;
Wherein subscripts E, N, U represent the east, north, and sky directions, respectively;
under a navigation coordinate system, the state equation of inertial navigation and RTK combined navigation is expressed as follows:
x (t) is the selected combined navigational coordinate system state vector,is the derivative of X (t), F (t) is the system state transition matrix, W (t) is the system noise vector, G (t) is the system noise driving matrix;
wherein the content of the first and second substances,the measured value of the lower accelerometer is denoted as b,representing an attitude transformation matrix from n to b, and (the) x represents an antisymmetric matrix;
wherein, W a And W g Respectively representing the noise of the gyroscope and the accelerometer, R is the radius of the earth when viewed as a sphere, w ie Is the earth rotation rate;
the measurement equation is obtained by respectively subtracting the position and the velocity measured by RTK and the position and the velocity measured by inertial navigation, and is as follows:
in the above formula, Z (t) is a measurement matrix at time t, B represents longitude, L represents latitude, H represents altitude, V E Representing east velocity, V N Representing north velocity, V U Representing the antenna speed, and subscripts RTK and INS represent RTK and inertial navigation respectively; v (t) represents the noise sequence of the position and velocity of the RTK;
and performing optimal estimation by adopting Kalman filtering, wherein the calculation steps are as follows:
one-step prediction equation: x k,k―1 =Φ k,k―1 X k―1 (ii) a Wherein phi k,k―1 Is the system transfer matrix from time k-1 to time k, X k―1 Is the system state vector at time k-1;
the state estimation equation is: x k =X k,k―1 +K k (Z k ―Z k,k―1 ) (ii) a Wherein, X k Is the system state vector at time K, K k Is the gain matrix at time k, Z k Is a measure of the time k, Z k,k―1 Measuring the quantity from the time k-1 to the time k;
the method for obtaining the gain matrix comprises the following steps:wherein, P k,k―1 Is the mean square error matrix from time k-1 to time k, H k Is a measurement matrix at time k, R k Measuring a noise variance matrix for the system k moment;
one-step prediction of mean square error:wherein, gamma is k―1 Is the noise driving matrix at time k-1, Γ k,k―1 Is the noise drive matrix from time k-1 to time k, Q k-1 A noise variance matrix at the k-1 moment of the system;
estimating the mean square error: p is k =(I―K k H k )P k,k―1 (ii) a Wherein p is k A mean square error matrix at time k;
the position trajectory calculated by each of the simultaneous parties Cheng Jie is taken as a reference trajectory and is denoted as S1.
Preferably, the solving of the horizontal track of the vehicle carrier comprises:
the speed output of the odometer is expressed on the odometer coordinate system as:wherein v is D The forward speed measured by the mileage meter, the right-direction speed and the sky-direction speed are both zero, the speed is regarded as a speed constraint condition when the vehicle runs normally, and the superscripts m, n and b respectively represent corresponding coordinate systems;
considering that there is a small amount of installation deviation angle from m-system to b-system, the deviation angle vector α = [ α ] θ α γ α ψ ] T And scale coefficient error δ K D Then, the actual output of the odometer on the navigation coordinate system is:
wherein phi is D Subscripts psi, gamma and theta represent pitch angle error, roll angle error and course angle error from m system to b system respectively for attitude misalignment angle of dead reckoning, and phi D =[φ DE φ DN φ DU ] T (ii) a Neglecting horizontal postureInfluence of state errors, i.e. making an approximation of phi DE ≈φ DN And 0, obtaining:
α θ 、φ DU +α ψ and δ K D Be the constant small quantity, and carry the car and go in the little within range of geographical position change, the rotation change of whole navigation in-process navigation coordinate system is not big promptly, handles as the plane, and the integration is got simultaneously on the two sides of formula:
wherein the content of the first and second substances,respectively, in the time period [0,T]The real displacement vector of the inner carrier vehicle, the calculated displacement vector and the driving mileage; u. of U =[0 0 1] T Is a vector of units in the direction of the sky;
the formula is decomposed into a horizontal part and a vertical part to obtain:
wherein the content of the first and second substances, subscript H represents a projection on a horizontal plane;
true displacementAround the zenith axis u U Angle of rotation phi DU +α ψ Then expand by 1+ delta K D Multiplying to obtain the calculated displacementThereby calculating a horizontal trajectory S2; and then the scale error delta K of the mileage meter is estimated by comparing the tracks S1 and S2 D 。
Corresponding to the method, the invention also discloses a system for calibrating the scale error of the odometer, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the steps of the method are realized when the processor executes the computer program.
Correspondingly, the invention also discloses a computer storage medium, on which a computer program is stored, wherein the program realizes the steps of the method when being executed by a processor.
The method can scientifically calculate the scale error of the odometer, thereby effectively improving the positioning precision of the odometer and providing guarantee for realizing high-precision navigation.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of a method for calibrating the odometer scale error disclosed in the embodiment of the invention.
FIG. 2 is a schematic diagram of an inertial navigation and RTK combined navigation system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram comparing a reference route and an actual route of an odometer according to an embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Example 1
The embodiment discloses a method for calibrating scale errors of a odometer, which comprises the steps of respectively establishing an inertial navigation coordinate system, a navigation coordinate system and a mileage measuring coordinate system, mapping data in the inertial navigation coordinate system and the mileage measuring coordinate system to the navigation coordinate system, and solving the following reference track, horizontal track and scale errors.
As shown in fig. 1, the method of the present invention comprises:
and S1, obtaining a reference track through inertial navigation and RTK combination.
In this step, the preferred solution process of the reference trajectory includes:
defining the transverse rolling axis of the inertial navigation carrier as y b Axis pointing directly in front of inertial navigation and pitch axis x b Axis pointing to the right of inertial navigation and course axis z b Axis, pointing in the direction of gravity, x, towards the sky b 、y b 、z b Three axes conform to the right hand coordinate system, x b 、y b 、z b Is marked as b series;
defining a navigation coordinate system x n The axis points east, y n The axis pointing north, z n The axis points to the sky, x n 、y n 、z n Is marked as n;
the measuring coordinate system of the mileage gauge is a right-front-upper right-hand rectangular coordinate system fixedly connected with the vehicle body and recorded as an m system, oy system m The shaft is arranged in a plane contacted with the vehicle-carrying wheels and points to the right front of the vehicle body; oz m The axis is positive perpendicular to the ground plane; ox m The axis points to the right;
selecting system state parameters, and recording the state quantity as:
delta r is inertial navigation position error, delta v is inertial navigation speed error, phi is inertial navigation attitude angle error,is zero offset, δ f, of the gyro b Is the accelerometer zero offset;
establishing an inertial navigation attitude error equation as follows:wherein the content of the first and second substances,is the derivative of the value of phi and,in order to navigate the gyro measurement error under the coordinate system,the error is calculated for the navigation coordinate system,representing a rotation of the navigation coordinate system relative to the inertial navigation coordinate system;
the rotation of the navigation coordinate system due to the rotation of the earth,moving a navigation coordinate system rotation caused by earth surface curvature for the system near the earth surface;
the velocity error equation is:wherein v is n 、δv n Respectively the speed and the speed error in the navigation coordinate system,is δ v n The derivative of (a) of (b),to navigate the accelerometer measurements in the coordinate system,in order to navigate the accelerometer measurement error in the coordinate system,δg n respectively calculating errors of the spin angular velocity of the earth under the navigation coordinate system, rotation calculation errors and gravity errors;
the inertial navigation position error equation is:
l, λ and h denote latitude, longitude and altitude, respectively, δ L, δ λ and δ h denote latitude error, longitude error and altitude error, respectively,andderivatives of δ L, δ λ and δ h, R M Is the radius of the meridian principal curvature; r is N The radius of main curvature of the mortise and unitary ring;
recording inertial navigation velocity component v n =[v E v N v U ] T ;
Velocity error component δ v n =[δv E δv N δv U ] T ;
Wherein subscripts E, N, U represent the east, north, and sky directions, respectively;
under a navigation coordinate system, the state equation of inertial navigation and RTK combined navigation is expressed as follows:
x (t) is the selected combined navigational coordinate system state vector,is the derivative of X (t), F (t) is the system state transition matrix, W (t) is the system noise vector, G (t) is the system noise driving matrix;
wherein, the first and the second end of the pipe are connected with each other,the measured value of the lower accelerometer is denoted as b,representing an attitude transformation matrix from n to b, and (a) x represents an anti-symmetric matrix;
wherein, W a And W g Respectively representing the noise of the gyroscope and the accelerometer, R is the radius of the earth when viewed as a sphere, w ie Is the earth rotation rate;
the measurement equation is obtained by respectively subtracting the position and the velocity measured by RTK and the position and the velocity measured by inertial navigation, and is as follows:
in the above formula, Z (t) is a measurement matrix at time t, B represents longitude, L represents latitude, H represents altitude, V E Representing east velocity, V N Representing north velocity, V U Representing the antenna speed, and subscripts RTK and INS represent RTK and inertial navigation respectively; v (t) represents a noise sequence of the RTK's position and velocity;
as shown in fig. 2, in the present embodiment, kalman filtering is used to perform the optimal estimation, and the calculation steps are as follows:
one-step prediction equation: x k,k―1 =Φ k,k―1 X k―1 (ii) a Wherein phi k,k―1 Is the system transfer matrix from time k-1 to time k, X k―1 Is the system state vector at time k-1;
the state estimation equation is: x k =X k,k―1 +K k (Z k ―Z k,k―1 ) (ii) a Wherein, X k Is the system state vector at time K, K k Is the gain matrix at time k, Z k Is a measure of the k time, Z k,k―1 Measuring the quantity from the time k-1 to the time k;
the method for obtaining the gain matrix comprises the following steps:wherein, P k,k―1 Is the mean square error matrix from time k-1 to time k, H k Is a measurement matrix at time k, R k Measuring a noise variance matrix for the system k moment;
one-step prediction of mean square error:wherein, gamma is k―1 Is the noise driving matrix at time k-1, Γ k,k―1 Is the noise drive matrix from time k-1 to time k, Q k-1 A noise variance matrix at the k-1 moment of the system;
estimating the mean square error: p k =(I―K k H k )P k,k―1 (ii) a Wherein p is k A mean square error matrix at time k;
the position locus calculated by combining the aforementioned parties Cheng Jie is denoted as a reference locus and is denoted as S1.
As a variation, in the process of obtaining the reference trajectory, the method for performing optimal estimation based on kalman filtering as shown in fig. 2 may be replaced by another filtering method that is easily conceived by those skilled in the art.
And S2, calculating a horizontal track of the vehicle through the odometer.
Preferably, the solving of the horizontal track of the vehicle loading vehicle in the step comprises the following steps:
the velocity output of the odometer is expressed on the odometer coordinate system as:wherein v is D The forward speed measured by the mileage meter, the right-direction speed and the sky-direction speed are both zero, the speed is regarded as a speed constraint condition when the vehicle runs normally, and the superscripts m, n and b respectively represent corresponding coordinate systems;
considering that there is a small amount of installation deviation angle from m-system to b-system, the deviation angle vector α = [ α ] θ α γ α ψ ] T And scale coefficient error δ K D Then, the actual output of the odometer on the navigation coordinate system is:
wherein phi is D Subscripts psi, gamma and theta represent pitch angle error, roll angle error and course angle error from m system to b system respectively for attitude misalignment angle of dead reckoning, and phi D =[φ DE φ DN φ DU ] T (ii) a Neglecting the effect of horizontal attitude error, i.e. making an approximation of phi DE ≈φ DN And 0, obtaining:
α θ 、φ DU +α ψ and δ K D Be the constant small quantity, and carry the car and go in the little within range of geographical position change, the rotation change of whole navigation in-process navigation coordinate system is not big promptly, handles as the plane, and the integration is got simultaneously on the two sides of formula:
wherein the content of the first and second substances,respectively, in a time period of [0,T]The real displacement vector of the inner carrier vehicle, the calculated displacement vector and the driving mileage; u. of U =[0 0 1] T Is a vector of units in the direction of the sky;
the formula is decomposed into a horizontal part and a vertical part to obtain:
wherein, the first and the second end of the pipe are connected with each other, subscript H represents a projection on a horizontal plane;
true displacementAround the zenith axis u U Angle of rotation phi DU +α ψ Then expand by 1+ delta K D Multiplying to obtain a calculated displacementThereby calculating a horizontal trajectory S2; and then the scale error delta K of the mileage meter is estimated by comparing the tracks S1 and S2 D 。
And S3, comparing the reference track with the horizontal track, and estimating the scale error of the odometer.
In this step, as shown in fig. 3, the reference track S1 is broken as indicated by the broken line OA in the figure, and the horizontal track S2 is broken as indicated by the broken line OB in the figure.
Example 2
Corresponding to the above method, the present embodiment discloses a system for calibrating an odometer scale error, which includes a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the steps of the above method are implemented when the computer program is executed by the processor.
Example 3
Similarly, corresponding to the above method embodiments, the present embodiment discloses a computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the above method.
In summary, the odometer scale error calibration method, the odometer scale error calibration system and the computer storage medium respectively disclosed in the embodiments of the invention can scientifically calculate the scale error of the odometer, thereby effectively improving the positioning accuracy of the odometer and providing guarantee for realizing high-accuracy navigation.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A method for calibrating scale errors of a speedometer is characterized by comprising the following steps:
obtaining a reference track through inertial navigation and RTK combination;
calculating a horizontal track of the vehicle through an odometer;
comparing the reference track with the horizontal track, and estimating the scale error of the odometer;
further comprising:
respectively establishing an inertial navigation coordinate system, a navigation coordinate system and a mileage measuring coordinate system, and mapping data in the inertial navigation coordinate system and the mileage measuring coordinate system to the navigation coordinate system to solve a reference track, a horizontal track and a scale error;
in the process of obtaining the reference track, optimal estimation is carried out based on Kalman filtering;
the solving process of the reference track comprises the following steps:
defining the transverse rolling axis of the inertial navigation carrier as y b Axis pointing directly in front of inertial navigation and pitch axis x b Axis pointing to the right of inertial navigation and course axis z b Axis, pointing in the direction of gravity, x, towards the sky b 、y b 、z b Three axes conform to the right hand coordinate system, x b 、y b 、z b Is marked as b series;
defining a navigation coordinate system x n The axis pointing east, y n The axis pointing north, z n The axis points to the sky, x n 、y n 、z n Is marked as n series;
the measuring coordinate system of the mileage recorder is oneA right-front-upper right-hand rectangular coordinate system fixedly connected with the vehicle body and recorded as an m system, oy m The shaft is arranged in a horizontal plane contacted with the vehicle-carrying wheels and points to the right front of the vehicle body; oz m The axis is positive when vertical to the ground plane; ox m The axis points to the right;
selecting system state parameters, and recording the state quantity as:
delta r is inertial navigation position error, delta v is inertial navigation speed error, phi is inertial navigation attitude angle error,is zero offset, δ f, of the gyro b Is the accelerometer zero offset;
establishing an inertial navigation attitude error equation as follows:wherein the content of the first and second substances,is the derivative of phi and is,in order to navigate the gyro measurement error under the coordinate system,the error is calculated for the navigation coordinate system,representing a rotation of the navigation coordinate system relative to the inertial navigation coordinate system;
the rotation of the navigation coordinate system due to the rotation of the earth,moving a navigation coordinate system rotation caused by earth surface curvature near the earth surface for the system;
the speed error equation is:wherein v is n 、δv n Respectively the speed and the speed error in the navigation coordinate system,is δ v n The derivative of (a) of (b),to navigate the accelerometer measurements in the coordinate system,in order to navigate the accelerometer measurement error in the coordinate system,δg n respectively calculating errors of the spin angular velocity of the earth under the navigation coordinate system, rotation calculation errors and gravity errors;
the inertial navigation position error equation is as follows:
l, λ and h denote latitude, longitude and altitude, respectively, δ L, δ λ and δ h denote latitude error, longitude error and altitude error, respectively,andderivatives of δ L, δ λ and δ h, R M Is the radius of the meridian principal curvature; r is N The radius of main curvature of the mortise and unitary ring;
recording inertial navigation velocity component v n =[v E v N v U ] T ;
Velocity error component δ v n =[δv E δv N δv U ] T ;
Wherein subscripts E, N, U represent the east, north, and sky directions, respectively;
under a navigation coordinate system, the state equation of inertial navigation and RTK combined navigation is expressed as follows:
x (t) is the selected combined navigational coordinate system state vector,is the derivative of X (t), F (t) is the system state transition matrix, W (t) is the system noise vector, G (t) is the system noise driving matrix;
wherein the content of the first and second substances,the measured value of the lower accelerometer is denoted as b,representing an attitude transformation matrix from n to b, and (the) x represents an antisymmetric matrix;
wherein, W a And W g Respectively representing the noise of the gyroscope and the accelerometer, R is the radius of the earth when viewed as a sphere, w ie Is the earth rotation rate;
the measurement equation is obtained by respectively subtracting the position and the velocity measured by RTK and the position and the velocity measured by inertial navigation, and is as follows:
in the above formula, Z (t) is a measurement matrix at time t, B represents longitude, L represents latitude, H represents altitude, V E Representing east velocity, V N Representing north-bound velocity, V U Representing the antenna speed, and subscripts RTK and INS represent RTK and inertial navigation respectively; v (t) represents a noise sequence of the RTK's position and velocity;
and performing optimal estimation by adopting Kalman filtering, wherein the calculation steps are as follows:
one-step prediction equation: x k,k-1 =Φ k,k-1 X k-1 (ii) a Wherein phi k,k-1 Is the system transfer matrix from time k-1 to time k, X k-1 Is the system state vector at time k-1;
the state estimation equation is: x k =X k,k-1 +K k (Z k -Z k,k-1 ) (ii) a Wherein, X k Is the system state vector at time K, K k Is the gain matrix at time k, Z k Is a measure of the time k, Z k,k-1 Measuring the quantity from the time k-1 to the time k;
the method for obtaining the gain matrix comprises the following steps:wherein, P k,k-1 Is the mean square error matrix from time k-1 to time k, H k Is a measurement matrix at time k, R k Measuring a noise variance matrix for the system k moment;
one-step prediction of mean square error:wherein, gamma is k-1 Is the noise driving matrix at time k-1, Γ k,k-1 Is the noise drive matrix from time k-1 to time k, Q k-1 A noise variance matrix at the k-1 moment of the system;
estimating the mean square error: p k =(I-K k H k )P k,k-1 (ii) a Wherein p is k A mean square error matrix at time k;
simultaneously taking the position track calculated by each party Cheng Jie as a reference track and recording as S1;
the solving of the horizontal track of the vehicle carrier comprises the following steps:
the speed output of the odometer is expressed on the odometer coordinate system as:wherein v is D The forward speed measured by the mileage meter, the right-direction speed and the sky-direction speed are both zero, the speed is regarded as a speed constraint condition when the vehicle runs normally, and the superscripts m, n and b respectively represent corresponding coordinate systems;
considering that there is a small amount of installation deviation angle from m-system to b-system, the deviation angle vector α = [ α ] θ α γ α ψ ] T And scale coefficient error δ K D Then, the actual output of the odometer on the navigation coordinate system is:
wherein phi is D Subscripts psi, gamma and theta represent pitch angle error, roll angle error and course angle error from m system to b system respectively for attitude misalignment angle of dead reckoning, and phi D =[φ DE φ DN φ DU ] T (ii) a Neglecting the effect of horizontal attitude error, i.e. making an approximation of phi DE ≈φ DN And 0, obtaining:
α θ 、φ DU +α ψ and δ K D Are all constant and small, and the vehicle is driven in the range with little change of the geographical position, namely the whole vehicle is navigatedThe rotation change of the navigation coordinate system in the process is small, and the two sides of the above formula are integrated at the same time as a plane processing:
wherein the content of the first and second substances,respectively, in the time period [0,T]The real displacement vector of the inner carrier vehicle, the calculated displacement vector and the driving mileage; u. of U =[0 0 1] T Is a vector of units in the direction of the sky;
the formula is decomposed into a horizontal part and a vertical part to obtain:
wherein the content of the first and second substances, subscript H represents a projection on a horizontal plane;
2. An odometer scale error calibration system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of claim 1 are performed when the computer program is executed by the processor.
3. A computer storage medium having a computer program stored thereon, wherein the program when executed by a processor implements the steps of the method of claim 1.
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