CN113074757A - Calibration method for vehicle-mounted inertial navigation installation error angle - Google Patents

Calibration method for vehicle-mounted inertial navigation installation error angle Download PDF

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CN113074757A
CN113074757A CN202110377639.1A CN202110377639A CN113074757A CN 113074757 A CN113074757 A CN 113074757A CN 202110377639 A CN202110377639 A CN 202110377639A CN 113074757 A CN113074757 A CN 113074757A
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inertial navigation
coordinate system
installation error
vehicle
error angle
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CN113074757B (en
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张金余
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Beijing Ligong Navigation Technology Co ltd
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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
    • 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
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract

The invention provides a calibration method of a vehicle-mounted inertial navigation installation error angle, which comprises the following steps: obtaining real-time inertial navigation angular velocity of vehicle-mounted inertial navigation
Figure DDA0003011425230000011
And real-time inertial navigation acceleration
Figure DDA0003011425230000012
And obtaining inertial navigation pitch angle theta, roll angle gamma and strapdown matrix based on the inertial navigation pitch angle theta, roll angle gamma and strapdown matrix
Figure DDA0003011425230000013
Based on the
Figure DDA0003011425230000014
And
Figure DDA0003011425230000015
projecting on a geographic coordinate system n to obtain horizontal acceleration
Figure DDA0003011425230000016
Obtaining the position increment of the inertial navigation body coordinate system m in the horizontal direction in the geographic coordinate system n through integral calculation
Figure DDA0003011425230000017
And the position is normalized by using the accumulated value sigma delta EN of the position increment of the GNSS to obtain the horizontal position component
Figure DDA0003011425230000018
And according to said horizontal component
Figure DDA0003011425230000019
And calculating to obtain an inertial navigation azimuth installation error angle delta phi. The invention does not need to limit the driving speed and the route of the vehicle, has no constraint requirement on the installation angle of the inertial navigation, has small calculated amount, high calibration speed and high precision, and has wide applicability.

Description

Calibration method for vehicle-mounted inertial navigation installation error angle
Technical Field
The invention belongs to the technical field of inertial navigation and satellite navigation, and particularly relates to a method for calibrating a vehicle-mounted inertial navigation installation error angle.
Background
For a vehicle-mounted integrated navigation system, the common combination modes include an inertial navigation (inertial navigation) and satellite navigation (satellite navigation) combination (i.e., IMU/GNSS integrated navigation), an SLAM (positioning and mapping) technology based on IMU (inertial measurement unit) and vision, a positioning technology based on IMU and lidar, and the like. Because of the limitation of the installation environment in the vehicle, and some inertial navigations are integrated with the satellite navigation board card or other equipment, the installation position and the installation angle of the inertial navigations are usually random, and the coordinate system of the inertial navigations body has a larger installation error relative to the coordinate system of the vehicle body. The attitude information and the positioning information of the vehicle need to be monitored in some occasions, when the installation error is large, the error of the attitude information of the vehicle is large, and under the condition of failure of the satellite navigation system, the accuracy of the position of the vehicle which is not compensated by the installation error is quickly dispersed. Under the background, how to quickly calibrate the installation error angle of inertial navigation relative to the vehicle body has high practical value.
In the prior art, two methods are generally used for compensating or eliminating the installation error of inertial navigation. The first method is to use a high-precision instrument such as a total station instrument and the like to measure the relative position relation between an IMU and a plurality of characteristic points on a vehicle body and calculate the installation error angle of the IMU, but the total station instrument is complex to operate and needs to be calibrated again when being re-installed every time, which brings much inconvenience and limitation to practical engineering application and lacks flexibility and universality; the second method is an online compensation method, which uses the information of inertial navigation and GNSS in motion and adopts different algorithms to estimate the installation error angle. In comparison, the second method has more flexibility, has no special requirement on the installation position, and is more beneficial to wide application.
In the online compensation method, patent document CN108594283A, a method for calculating the MIMU installation error angle in vehicle-mounted satellite-based enhanced multimode GNSS/MIMU combined navigation, uses an improved acceleration measurement model in the vehicle acceleration process to derive a nonlinear equation set of the installation error angle, and then uses a newton iteration method to solve the problem. The method captures the characteristics of the vehicle acceleration process, limits the iterative calculation conditions of the installation error angle, has requirements on vehicle running and limits the installation angle of inertial navigation, and is more complex in calculation; in the thesis document, "inertial navigation algorithm assisted by vehicle kinematic constraint" (by authors, reinforce text), a kalman filter equation is established by using vehicle kinematic constraint conditions, that is, conditions that the lateral speed and the normal speed are zero when a vehicle normally runs, and the pitch and azimuth installation error angles are expanded into state variables to perform combined navigation solution, so as to estimate the installation error angle.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to provide a method for calibrating the installation error angle of the vehicle-mounted inertial navigation, which does not need to limit the driving speed and the route of a vehicle, does not have any constraint requirement on the installation angle of the inertial navigation, has small calculated amount, high calibration speed, high precision and wide applicability.
In order to solve the above problems, the invention provides a method for calibrating a vehicle-mounted inertial navigation installation error angle, which comprises the following steps:
obtaining real-time inertial navigation angular velocity of vehicle-mounted inertial navigation
Figure BDA0003011425210000021
And real-time inertial navigation acceleration
Figure BDA0003011425210000022
According to the obtained
Figure BDA0003011425210000023
And
Figure BDA0003011425210000024
obtaining inertial navigation pitch angle theta and roll angle gamma, and obtaining a strapdown matrix based on theta and gamma
Figure BDA0003011425210000025
Based on the
Figure BDA0003011425210000026
And
Figure BDA0003011425210000027
projecting on a geographic coordinate system n to obtain horizontal acceleration
Figure BDA0003011425210000028
Obtaining the position increment of the inertial navigation body coordinate system m in the horizontal direction in the geographic coordinate system n through integral calculation
Figure BDA0003011425210000029
And the position is normalized by using the accumulated value sigma delta EN of the position increment of the GNSS to obtain the horizontal position component
Figure BDA00030114252100000210
And according to said horizontal component
Figure BDA00030114252100000211
Calculating to obtain an inertial navigation azimuth installation error angle delta phi; and/or the presence of a gas in the gas,
based on the
Figure BDA00030114252100000212
And
Figure BDA00030114252100000213
obtaining the acceleration component of the inertial navigation body coordinate system m
Figure BDA00030114252100000214
Obtaining the position increment of the inertial navigation body coordinate system m through integral calculation
Figure BDA00030114252100000215
And the position is normalized by using the accumulated value sigma delta EN of the position increment of the GNSS to obtain the position component of the inertial navigation body coordinate system m
Figure BDA00030114252100000216
And according to the position component of the inertial navigation body coordinate system m
Figure BDA00030114252100000217
And calculating to obtain an inertial navigation horizontal installation error angle, wherein the inertial navigation horizontal installation error angle comprises a pitching installation error angle delta theta and a rolling installation error angle delta gamma.
Preferably, the theta, gamma are represented by
Figure BDA00030114252100000218
The signal is obtained by complementary filtering or AHRS algorithm real-time calculation.
Preferably, the first and second electrodes are formed of a metal,
Figure BDA00030114252100000219
obtained using the following formula:
Figure BDA00030114252100000220
Figure BDA00030114252100000221
obtained using the following formula:
Figure BDA00030114252100000222
wherein ,
Figure BDA00030114252100000223
is the gravitational acceleration component.
Preferably, the position increment of the GNSS is obtained as follows:
in a unit time, the position change Δ E of the GNSS in the east direction and the position change Δ N of the GNSS in the north direction are respectively calculated, wherein,
ΔE＝Re·cosLG，k·sin(λG，k-λG，k-1)；ΔN＝Re·sin(LG，k-LG，k-1)
and then obtaining the GNSS position increment in unit time as follows:
Figure BDA0003011425210000031
wherein Re is the radius of the earth, LG，k-1 and LG，kLatitude values, lambda, measured for the GNSS at the previous and present time, respectivelyG，k-1 and λG，kThe measured longitude values of the GNSS at the previous moment and the current moment are respectively;
and the sigma delta EN is an accumulated value of the current time delta EN.
Preferably, the inertial navigation body coordinate system m is a position increment in the horizontal direction in the geographic coordinate system n
Figure BDA00030114252100000328
The method comprises the following steps:
Figure BDA0003011425210000032
wherein ,
Figure BDA0003011425210000033
is the horizontal plane position at the moment of inertial navigation i,
Figure BDA0003011425210000034
the horizontal plane velocity at the moment of inertial navigation i is obtained, and delta t is an inertial navigation resolving period; and/or the presence of a gas in the gas,
position increment of inertial navigation body coordinate system m
Figure BDA0003011425210000035
The method comprises the following steps:
Figure BDA0003011425210000036
wherein ,
Figure BDA0003011425210000037
is the position of the inertial navigation body coordinate system at the moment i,
Figure BDA0003011425210000038
and the velocity at the moment i of the inertial navigation body coordinate system is shown, and the delta t is the inertial navigation resolving period.
Preferably, the inertial navigation body coordinate system m is a position increment of a horizontal projection in the geographic coordinate system n
Figure BDA0003011425210000039
The normalization processing is realized by the following method:
Figure BDA00030114252100000310
where k is the time of the GNSS data update,
Figure BDA00030114252100000311
to correspond to
Figure BDA00030114252100000312
The horizontal plane position increment at time k,
Figure BDA00030114252100000313
is composed of
Figure BDA00030114252100000314
The mold of (4); and/or the presence of a gas in the gas,
position increment of inertial navigation body coordinate system m
Figure BDA00030114252100000315
The normalization processing is realized by the following method:
Figure BDA00030114252100000316
where k is the time of the GNSS data update,
Figure BDA00030114252100000317
to correspond to
Figure BDA00030114252100000318
Is used to navigate the position increment in the body coordinate system at the time k,
Figure BDA00030114252100000319
is composed of
Figure BDA00030114252100000320
The die of (1).
Preferably, the horizontal position component is based on
Figure BDA00030114252100000321
The inertial navigation azimuth installation error angle delta phi obtained by calculation is realized by adopting the following mode:
order to
Figure BDA00030114252100000322
wherein Xb′、Yb′、Zb′Is the position component projected by the inertial navigation on the vehicle body coordinate system b, b' is the projection coordinate system projected by the inertial navigation body coordinate system m onto the vehicle body coordinate system b, and has an azimuth error angle with the vehicle body coordinate system b
Figure BDA00030114252100000323
Namely, obtaining the following installation error angle of the inertial navigation azimuth:
Figure BDA00030114252100000324
and/or the presence of a gas in the gas,
according to the position component of the inertial navigation body coordinate system m
Figure BDA00030114252100000325
The calculated inertial navigation horizontal installation error angle is realized by adopting the following mode:
order to
Figure BDA00030114252100000326
Then
Figure BDA00030114252100000327
The invention provides a calibration method of a vehicle-mounted inertial navigation installation error angle, which utilizes a horizontal position (in a geographic coordinate system n) accumulated value for a period of time to calculate an azimuth installation error angle delta phi, utilizes the position accumulated value of an inertial navigation body coordinate system m to calculate horizontal installation error angles (delta theta and delta gamma), and utilizes position increment of GNSS to normalize the inertial navigation error, thereby effectively inhibiting the position error divergence of inertial navigation, improving the calibration precision without limiting the driving speed and route of a vehicle, having no constraint requirement on the installation angle of the inertial navigation, having small calculated amount, high calibration speed and wide applicability.
Drawings
FIG. 1 is a schematic step diagram of a method for calibrating a vehicle-mounted inertial navigation installation error angle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an included angle between a horizontal position component of inertial navigation and a traveling direction of a vehicle head in the calibration method for the vehicle-mounted inertial navigation installation error angle according to the embodiment of the invention;
FIG. 3 is a schematic flow chart of a method for calibrating a vehicle-mounted inertial navigation installation error angle according to an embodiment of the invention;
FIG. 4 is a calibration track (GNSS) for a sports car in an embodiment of the calibration method of the present invention;
FIG. 5 shows the result of calibrating a sports car by the inertial navigation installation error angle of the calibration method of the present invention.
Detailed Description
Referring to fig. 1 to 5 in combination, according to an embodiment of the present invention, a method for calibrating an error angle of vehicle-mounted inertial navigation system installation is provided, including the following steps:
obtaining real-time inertial navigation angular velocity of vehicle-mounted inertial navigation
Figure BDA0003011425210000041
And real-time inertial navigation acceleration
Figure BDA0003011425210000042
According to the obtained
Figure BDA0003011425210000043
And
Figure BDA0003011425210000044
obtaining inertial navigation pitch angle theta and roll angle gamma, and obtaining a strapdown matrix based on theta and gamma
Figure BDA0003011425210000045
Based on the
Figure BDA0003011425210000046
And
Figure BDA0003011425210000047
projecting on a geographic coordinate system n to obtain horizontal acceleration
Figure BDA0003011425210000048
Obtaining the position increment of the inertial navigation body coordinate system m in the horizontal direction in the geographic coordinate system n through integral calculation
Figure BDA0003011425210000049
And the position is normalized by using the accumulated value sigma delta EN of the position increment of the GNSS to obtain the horizontal position component
Figure BDA00030114252100000410
And according to said horizontal component
Figure BDA00030114252100000411
Calculating to obtain an inertial navigation azimuth installation error angle delta phi; and/or the presence of a gas in the gas,
based on the
Figure BDA00030114252100000412
And
Figure BDA00030114252100000413
obtaining the acceleration component of the inertial navigation body coordinate system m
Figure BDA00030114252100000414
Obtaining the position increment of the inertial navigation body coordinate system m through integral calculation
Figure BDA00030114252100000415
And the position is normalized by using the accumulated value sigma delta EN of the position increment of the GNSS to obtain the position component of the inertial navigation body coordinate system m
Figure BDA00030114252100000416
And according to the position component of the inertial navigation body coordinate system m
Figure BDA00030114252100000417
And calculating to obtain an inertial navigation horizontal installation error angle, wherein the inertial navigation horizontal installation error angle comprises a pitching installation error angle delta theta and a rolling installation error angle delta gamma.
In the on-line calibration method in the prior art, the real-time acceleration and speed are generally used for estimating the installation error angle, because the acceleration and the speed are random in the driving process of the vehicle, when the speed is small or the acceleration characteristic is not obvious, the calculated error is large, and the influence on the calibration result is large, in the technical scheme, the azimuth installation error angle delta phi is calculated by using the accumulated value of horizontal positions (in a geographic coordinate system n) for a period of time, the horizontal installation error angles (delta theta and delta gamma) are calculated by using the accumulated value of the positions of a coordinate system m of an inertial navigation body, the error of the inertial navigation is normalized by using the position increment of GNSS, the position error divergence of the inertial navigation is effectively inhibited, the calibration precision is improved, the driving speed and the route of the vehicle do not need to be limited, no constraint requirement is made on the installation angle of the inertial navigation, the calculated amount is small, The calibration speed is high, and the method has wide applicability.
Specifically, the theta and gamma are represented by
Figure BDA0003011425210000051
The signal is obtained by complementary filtering or AHRS algorithm real-time calculation.
In some embodiments of the present invention, the substrate is,
Figure BDA0003011425210000052
obtained using the following formula:
Figure BDA0003011425210000053
Figure BDA0003011425210000054
obtained using the following formula:
Figure BDA0003011425210000055
wherein ,
Figure BDA0003011425210000056
is the gravitational acceleration component.
In some embodiments, the position increment of the GNSS is obtained as follows:
in a unit time, a position change Δ E in east direction and a position change Δ N in north direction of the GNSS are calculated, respectively, where Δ E ═ Re · cosLG，k·sin(λG，k-λG，k-1)；ΔN＝Re·sin(LG，k-LG，k-1) Based on the formula, the GNSS position increment in unit time is further obtained as:
Figure BDA0003011425210000057
wherein Re is the radius of the earth, LG，k-1 and LG，kLatitude values, lambda, measured for the GNSS at the previous and present time, respectivelyG，k-1 and λG，kThe measured longitude values of the GNSS at the previous moment and the current moment are respectively; and the sigma delta EN is an accumulated value of the delta EN at the current moment, and the error divergence of the inertial navigation can be effectively restrained through the sigma delta EN.
In some embodiments, the inertial navigation body coordinate system m is a horizontally-oriented position increment within the geographic coordinate system n
Figure BDA0003011425210000058
The method comprises the following steps:
Figure BDA0003011425210000059
wherein ,
Figure BDA00030114252100000510
is the horizontal plane position at the moment of inertial navigation i,
Figure BDA00030114252100000511
the horizontal plane velocity at the moment of inertial navigation i is obtained, and delta t is an inertial navigation resolving period; and/or position increment of inertial navigation body coordinate system m
Figure BDA00030114252100000512
The method comprises the following steps:
Figure BDA00030114252100000513
wherein ,
Figure BDA00030114252100000514
is the position of the inertial navigation body coordinate system at the moment i,
Figure BDA00030114252100000515
and the velocity at the moment i of the inertial navigation body coordinate system is delta t, and the inertial navigation resolving period is (generally 5 to 10 ms).
In some embodiments, the inertial navigation body coordinate system m is projected in a horizontal direction within the geographic coordinate system n as a position increment
Figure BDA00030114252100000516
The normalization processing is realized by the following method:
Figure BDA00030114252100000517
where k is the time of the GNSS data update,
Figure BDA00030114252100000518
to correspond to
Figure BDA00030114252100000519
The horizontal plane position increment at time k,
Figure BDA00030114252100000520
is composed of
Figure BDA00030114252100000521
The mold of (4); and/or the presence of a gas in the gas,
position increment of inertial navigation body coordinate system m
Figure BDA00030114252100000522
The normalization processing is realized by the following method:
Figure BDA00030114252100000523
where k is the time of the GNSS data update,
Figure BDA00030114252100000524
to correspond to
Figure BDA00030114252100000525
Is used to navigate the position increment in the body coordinate system at the time k,
Figure BDA00030114252100000526
is composed of
Figure BDA00030114252100000527
The die of (1).
In some embodiments, the horizontal position component is based on
Figure BDA0003011425210000069
The inertial navigation azimuth installation error angle delta phi obtained by calculation is realized by adopting the following mode:
the vehicle is driven on a straight road, the vehicle travel track is basically in the horizontal direction, and after the vehicle travels a certain distance, the position increment of the projection of the inertial navigation on the geographic coordinate system n is considered to be close to the position increment of the projection of the inertial navigation on the vehicle body coordinate system b.
Order to
Figure BDA0003011425210000061
wherein Xb，、Yb′、Zb′Is the position component projected by the inertial navigation on the vehicle body coordinate system b, b' is the projection coordinate system projected by the inertial navigation body coordinate system m onto the vehicle body coordinate system b, and has an azimuth error angle with the vehicle body coordinate system b
Figure BDA0003011425210000062
Namely, obtaining the following installation error angle of the inertial navigation azimuth:
Figure BDA0003011425210000063
and/or the presence of a gas in the gas,
according to the position component of the inertial navigation body coordinate system m
Figure BDA0003011425210000064
The calculated inertial navigation horizontal installation error angle is realized by adopting the following mode:
order to
Figure BDA0003011425210000065
Then
Figure BDA0003011425210000066
The invention provides a calibration method for vehicle-mounted inertial navigation installation error angleThen, that is, after obtaining the inertial navigation azimuth installation error angle Δ Φ (also referred to as azimuth angle for short), the pitch installation error angle Δ θ, and the roll installation error angle Δ γ (inertial navigation horizontal installation error angle, also referred to as horizontal attitude angle for short), the transformation matrix of the vehicle body coordinate system b with respect to the inertial navigation body coordinate system m can be obtained
Figure BDA0003011425210000067
Thereby obtaining the attitude array of the vehicle body coordinate system b relative to the geographic coordinate system n
Figure BDA0003011425210000068
Therefore, the attitude angle and the azimuth angle of the vehicle can be obtained in real time, dead reckoning calculation can be carried out by utilizing the vehicle constraint condition and the current attitude matrix of the vehicle under the condition that the GNSS fails, and the positioning precision is improved.
In each of the above equations, the unit of angular velocity may be in °/s or rad/s, the unit of acceleration may be in g or m/s2, the unit of angle may be in ° or rad, the unit of position may be in m, and the unit of time t may be in s.
In order to verify the feasibility of the technical scheme, the roadster verification design is carried out, and the roadster verification design specifically comprises the following steps:
and selecting an open road section with a relatively flat road surface with a better satellite condition, fixing inertial navigation and the vehicle body according to any installation error angle, and externally connecting the inertial navigation with a GNSS antenna. After electrification, the static state of a flat horizontal plane is kept for 1 minute, the GNSS is waited to be effective, then the vehicle starts to run, the speed and the route are not limited, and the calibration of the installation error angle can be completed by running for about 100-500 meters. Since the vehicle runs on a flat road, the overall movement locus is on a horizontal plane although it is occasionally somewhat jerky. If the installation error angle is estimated in real time according to the speed or the acceleration, the installation error angle estimated in a short time is large in error and even completely distorted due to the influence of factors such as low speed, bumping and acceleration, and the effect is not good even if the installation error angle is subjected to filtering processing. Therefore, the scheme adopts a position integration method to calculate the installation error angle, and effectively eliminates the noise influence in a short time.
Furthermore, the feasibility of the technical scheme of the invention is verified by using MEMS inertial navigation with lower precision without loss of generality.
The MEMS inertial navigation system is randomly installed on a vehicle, and the real installation error is as follows: the pitch mounting error Δ θ is 35 °, the roll mounting error Δ γ is 25 °, and the azimuth mounting error Δ γ is 190 °. The vehicle was stationary for 60 seconds and then was running for about 100 seconds, the distance was about 400 meters, and the track (GNSS position) of the vehicle was as shown in fig. 4.
The horizontal installation error can be approximate to a pitch angle and a roll angle when the vehicle is at initial rest, and after the vehicle moves, the position increment and the installation error are estimated in real time according to the algorithm of the scheme. As shown in fig. 5, when the vehicle travels for about 8 seconds, the position increment is about 15 meters, the horizontal installation error and the azimuth installation error can be calibrated, and the errors are within the range of 2 degrees. With the time extension, the precision will gradually improve, and the precision of final installation error is less than 1, and for MEMS product precision is enough, and the precision will be higher if using high accuracy inertial navigation. In practical application, an estimated value of 100-500 meters can be taken as a calibration result.
The technical scheme of the invention has strong adaptability, small calculated amount and easy realization, has no requirements on inertial navigation installation and vehicle driving routes, and is suitable for the calibration work of batch products.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims (7)

1. A calibration method for a vehicle-mounted inertial navigation installation error angle is characterized by comprising the following steps:
obtaining real-time inertial navigation angular velocity of vehicle-mounted inertial navigation
Figure FDA0003011425200000011
And real-time inertial navigation acceleration
Figure FDA0003011425200000012
According to the obtained
Figure FDA0003011425200000013
And
Figure FDA0003011425200000014
obtaining inertial navigation pitch angle theta and roll angle gamma, and obtaining a strapdown matrix based on theta and gamma
Figure FDA0003011425200000015
Based on the
Figure FDA0003011425200000016
And
Figure FDA0003011425200000017
projecting on a geographic coordinate system n to obtain horizontal acceleration
Figure FDA0003011425200000018
Obtaining the position increment of the inertial navigation body coordinate system m in the horizontal direction in the geographic coordinate system n through integral calculation
Figure FDA0003011425200000019
And the position is normalized by using the accumulated value sigma delta EN of the position increment of the GNSS to obtain the horizontal position component
Figure FDA00030114252000000110
And according to said horizontal component
Figure FDA00030114252000000111
Calculating to obtain an inertial navigation azimuth installation error angle delta phi; and/or the presence of a gas in the gas,
based on the
Figure FDA00030114252000000112
And
Figure FDA00030114252000000113
obtaining the acceleration component of the inertial navigation body coordinate system m
Figure FDA00030114252000000114
Obtaining the position increment of the inertial navigation body coordinate system m through integral calculation
Figure FDA00030114252000000115
And the position is normalized by using the accumulated value sigma delta EN of the position increment of the GNSS to obtain the position component of the inertial navigation body coordinate system m
Figure FDA00030114252000000116
And according to the position component of the inertial navigation body coordinate system m
Figure FDA00030114252000000117
And calculating to obtain an inertial navigation horizontal installation error angle, wherein the inertial navigation horizontal installation error angle comprises a pitching installation error angle delta theta and a rolling installation error angle delta gamma.
2. The calibration method of the vehicle-mounted inertial navigation installation error angle according to claim 1,
the theta and gamma are formed by
Figure FDA00030114252000000118
The signal is obtained by complementary filtering or AHRS algorithm real-time calculation.
3. The calibration method of the vehicle-mounted inertial navigation installation error angle according to claim 1,
Figure FDA00030114252000000119
obtained using the following formula:
Figure FDA00030114252000000120
Figure FDA00030114252000000121
obtained using the following formula:
Figure FDA00030114252000000122
wherein ,
Figure FDA00030114252000000123
is the gravitational acceleration component.
4. The method for calibrating the vehicle-mounted inertial navigation installation error angle according to claim 3, wherein the position increment of the GNSS is obtained by the following method:
in a unit time, the position change Δ E of the GNSS in the east direction and the position change Δ N of the GNSS in the north direction are respectively calculated, wherein,
ΔE＝Re·cosLG，k·sin(λG，k-λG，k-1)；ΔN＝Re·sin(LG，k-LG，k-1)
and then obtaining the GNSS position increment in unit time as follows:
Figure FDA00030114252000000124
wherein Re is the radius of the earth, LG，k-1 and LG，kLatitude values, lambda, measured for the GNSS at the previous and present time, respectivelyG，k-1 and λG，kThe measured longitude values of the GNSS at the previous moment and the current moment are respectively;
and the sigma delta EN is an accumulated value of the current time delta EN.
5. The method for calibrating the vehicle-mounted inertial navigation installation error angle according to claim 4, characterized in that the inertial navigation body coordinate system m is provided with a position increment in the horizontal direction in the geographic coordinate system n
Figure FDA00030114252000000125
The method comprises the following steps:
Figure FDA0003011425200000021
wherein ,
Figure FDA0003011425200000022
is the horizontal plane position at the moment of inertial navigation i,
Figure FDA0003011425200000023
the horizontal plane velocity at the moment of inertial navigation i is obtained, and delta t is an inertial navigation resolving period; and/or the presence of a gas in the gas,
position increment of inertial navigation body coordinate system m
Figure FDA0003011425200000024
The method comprises the following steps:
Figure FDA0003011425200000025
wherein ,
Figure FDA0003011425200000026
is the position of the inertial navigation body coordinate system at the moment i,
Figure FDA0003011425200000027
and the velocity at the moment i of the inertial navigation body coordinate system is shown, and the delta t is the inertial navigation resolving period.
6. The calibration method of the vehicle-mounted inertial navigation installation error angle according to claim 5,
position increment of horizontal projection of inertial navigation body coordinate system m in geographic coordinate system n
Figure FDA0003011425200000028
The normalization processing is realized by the following method:
Figure FDA0003011425200000029
where k is the time of the GNSS data update,
Figure FDA00030114252000000210
to correspond to
Figure FDA00030114252000000211
The horizontal plane position increment at time k,
Figure FDA00030114252000000212
the mold of (4); and/or the presence of a gas in the gas,
position increment of inertial navigation body coordinate system m
Figure FDA00030114252000000213
The normalization processing is realized by the following method:
Figure FDA00030114252000000214
where k is the time of the GNSS data update,
Figure FDA00030114252000000215
to correspond to
Figure FDA00030114252000000216
Is used to navigate the position increment in the body coordinate system at the time k,
Figure FDA00030114252000000217
is composed of
Figure FDA00030114252000000218
The die of (1).
7. The calibration method of the vehicle-mounted inertial navigation installation error angle according to claim 6,
according to said horizontal position component
Figure FDA00030114252000000219
The inertial navigation azimuth installation error angle delta phi obtained by calculation is realized by adopting the following mode:
order to
Figure FDA00030114252000000220
wherein Xb′、Yb′、Zb′Is the position component projected by the inertial navigation on the vehicle body coordinate system b, b' is the projection coordinate system projected by the inertial navigation body coordinate system m onto the vehicle body coordinate system b, and has an azimuth error angle with the vehicle body coordinate system b
Figure FDA00030114252000000221
Namely, obtaining the following installation error angle of the inertial navigation azimuth:
Figure FDA00030114252000000222
and/or the presence of a gas in the gas,
according to the position component of the inertial navigation body coordinate system m
Figure FDA00030114252000000223
The calculated inertial navigation horizontal installation error angle is realized by adopting the following mode:
order to
Figure FDA00030114252000000224
Then
Figure FDA00030114252000000225
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