CN113834499A - Method and system for aligning vehicle-mounted inertial measurement unit and odometer during traveling - Google Patents
Method and system for aligning vehicle-mounted inertial measurement unit and odometer during traveling Download PDFInfo
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Abstract
The invention discloses a method and a system for aligning a vehicle-mounted inertial measurement unit with a milemeter during traveling, wherein the method comprises the following steps: acquiring an attitude transformation matrix under an inertial system according to inertial navigation and odometer information, and completing coarse alignment between advances according to the attitude transformation matrix to obtain coarse attitude angle information; and establishing an error model, finishing the precision alignment between advances according to the error model to obtain the accurate attitude angle information, continuously navigating according to the accurate initial attitude angle information obtained by the alignment between advances, and obtaining the attitude angle and the position information of the vehicle in real time. The invention can realize the alignment between advances without preparation time, the alignment precision is the same as that of the static base, and the invention can carry out the alignment by electrifying in the running process of the vehicle without stopping and waiting, thereby improving the alignment flexibility and effectively shortening the alignment time between advances.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a method and a system for aligning a vehicle-mounted inertial measurement unit with a milemeter during traveling.
Background
Currently, an inertial navigation system is widely applied to the fields of aviation, aerospace, navigation, land navigation and the like. Particularly in the military field, the inertial navigation system plays a great role. The vehicle-mounted inertial navigation is an important component in a land-based weapon system and is used for guiding the weapon system and providing navigation information. The inertial navigation system must complete initial alignment before entering navigation, and provides initial attitude for subsequent inertial measurement, so the accuracy of the initial alignment is a key factor influencing the navigation accuracy. The problem of initial alignment of vehicle-mounted inertial navigation has been a hot spot of research in the field of inertial navigation. In recent years, the domestic vehicle-mounted inertial navigation system generally adopts a static initial alignment mode, namely, before a vehicle is started, the initial alignment of a static base is completed by utilizing methods such as compass alignment, multi-position alignment, rotation modulation alignment and the like.
Disclosure of Invention
The invention aims to solve the technical problems that the alignment method and the alignment system between the vehicle-mounted inertial measurement unit and the odometer are provided aiming at the defects in the prior art, and the problems that the alignment method between the vehicle-mounted inertial measurement unit and the odometer is long in time consumption and low in alignment accuracy in the prior art are solved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides a vehicle-mounted inertial measurement unit and odometer inter-travel alignment method, wherein the method comprises the following steps:
acquiring an attitude transformation matrix under an inertial system according to inertial navigation and odometer information, and completing coarse alignment between advances according to the attitude transformation matrix to obtain coarse attitude angle information;
establishing an error model, and finishing the precise alignment between advances according to the error model to obtain precise attitude angle information;
and the navigation can be continuously carried out according to the accurate initial attitude angle information obtained by the alignment between the advancing processes, and the attitude angle and the position information of the vehicle can be obtained in real time.
In one implementation, the performing the inter-travel coarse alignment according to the attitude transformation matrix to obtain coarse attitude angle information includes:
decomposing the attitude matrix and acquiring gravity deflection in the inertial navigation system;
compensating the gravity deflection according to the gravity deflection;
and solving the attitude matrix to finish the coarse alignment between advances.
In one implementation, the attitude matrix is decomposed into:
wherein n represents a navigation coordinate system, b is a strapdown inertial navigation coordinate system, n0Indicating the navigation coordinate system at the initial moment, ib0Representing an initial moment strapdown inertial set inertial coordinate system, t representing the current moment, the initial moment being 0, i0Representing the inertial coordinate system at the initial moment of time,
is a transformation matrix of the navigation coordinate system and the navigation coordinate system at the initial moment,
a transformation matrix of an inertial coordinate system of the strapdown inertial unit and a strapdown inertial navigation coordinate system at an initial moment;
the method comprises the following steps of obtaining a conversion matrix of an initial moment strapdown inertial set inertial coordinate system and an initial moment strapdown inertial set inertial coordinate system;
and the transformation matrix is an initial moment inertial coordinate system and an initial moment navigation coordinate system.
In one implementation, the establishing an error model and completing the inter-travel fine alignment according to the error model to obtain the precise attitude angle information includes: and establishing a precision alignment error model between advances, which comprises attitude error, speed error, position error, gyro drift error, accelerometer bias error, odometer scale coefficient error, pitching installation error angle, azimuth installation error angle and outer rod arm error.
In one implementation, the establishing an error model and completing the inter-travel fine alignment according to the error model to obtain the precise attitude angle information includes:
the speed of the strapdown inertial navigation solution is differenced with the speed of the dead reckoning solution by using the odometer, and a difference value is obtained;
and taking the difference value as the observed quantity.
In one implementation, the performing the inter-travel fine alignment according to the error model to obtain the precise attitude angle information includes:
and acquiring a Sage-Husa adaptive filtering algorithm, and performing recursive calculation according to the Sage-Husa adaptive filtering algorithm to obtain the accurate attitude angle.
In one implementation, the method further comprises:
and during calculation, performing reverse backtracking, and taking the calculation results of different stages as initial values for calculation of the next stage.
In a second aspect, the embodiment further provides a vehicle-mounted inertial measurement unit inter-travel alignment algorithm framework, where the system includes:
the rough alignment module is used for acquiring an attitude conversion matrix under an inertial system according to inertial navigation and odometer information, and finishing rough alignment between travels according to the attitude conversion matrix to obtain rough attitude angle information;
the fine alignment module is used for establishing an error model and finishing fine alignment between advances according to the error model to obtain accurate attitude angle information;
and the navigation resolving module is used for continuously navigating according to the accurate initial attitude angle information obtained by alignment between advances and acquiring the attitude angle and the position information of the vehicle in real time.
In a third aspect, an embodiment of the present invention further provides a terminal device, where the terminal device includes a memory, a processor, and a vehicle-mounted inertial measurement unit traveling alignment program and a navigation program that are stored in the memory and are executable on the processor, and when the processor executes the vehicle-mounted inertial measurement unit traveling alignment program, the step of implementing the vehicle-mounted inertial measurement unit and odometer traveling alignment method according to any one of the above schemes is implemented.
Has the advantages that: compared with the prior art, the invention provides a method for aligning a vehicle-mounted inertial measurement unit and a odometer during traveling. And then establishing an error model, and finishing the precise alignment between the advancing according to the error model to obtain the precise attitude angle. And finally, determining attitude angle, azimuth angle and position information according to the accurate attitude angle. The invention can realize the alignment between advances without preparation time, and the alignment precision is the same as that of the static base, thereby effectively improving the alignment precision and the service performance between advances.
Drawings
Fig. 1 is a flowchart of an embodiment of a method for aligning a vehicle-mounted inertial measurement unit with a odometer during traveling according to the present invention.
Fig. 2 is a schematic view of gravity vectors at different times of the inertial system when the vehicle travels in the alignment method between the vehicle-mounted inertial set and the odometer according to the embodiment of the present invention.
Fig. 3 is a schematic diagram of the reverse backtracking of the inter-travel alignment in the method for aligning the vehicle-mounted inertial measurement unit with the odometer according to the embodiment of the present invention.
Fig. 4 is a schematic block diagram of a vehicle-mounted inertial measurement unit inter-travel alignment system according to an embodiment of the present invention.
Fig. 5 is a schematic block diagram of an internal structure of a terminal device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Research shows that the inertial navigation system must complete initial alignment before entering navigation, the initial alignment provides a basis for subsequent inertial measurement, and the accuracy of the initial alignment is a key factor influencing the navigation accuracy. Therefore, the problem of initial alignment of vehicle-mounted inertial navigation has been a hot spot of research in the field of inertial navigation. In recent years, domestic vehicle-mounted inertial navigation generally adopts a static initial alignment mode, namely, before a vehicle is started, the initial alignment of a static base is completed by utilizing methods such as compass alignment, multi-position alignment, rotation modulation alignment and the like.
At present, the initial alignment scheme of the vehicle-mounted inertial navigation during traveling is mainly divided into two schemes: transferring the alignment and introducing external auxiliary information. The transfer alignment is to use the high-precision main inertial navigation information as reference, and estimate the misalignment angle between the sub inertial navigation information and the main inertial navigation information by using the information difference between the sub inertial navigation information and the main inertial navigation information, so as to realize the alignment of the sub inertial navigation. The transfer alignment puts high requirements on the precision of the main inertial navigation, the cost is increased, and the error compensation technology of the transfer alignment is difficult; the alignment of external auxiliary information mainly adopts a combined scheme of inertial navigation/GPS/odometer. The GPS system can give high-precision position and speed information in real time, but since the GPS signal is easy to detect and interfere, the autonomy and the concealment of the system are reduced. The inertial navigation system can output complete navigation information and is a fully autonomous navigation system, but navigation errors are dispersed along with time, so that the pure inertial navigation system cannot meet the requirement of a vehicle-mounted weapon system on navigation accuracy. The odometer is used as a speed observation device, can provide accurate speed information and can also extract course information. The method has the advantages of slow error divergence, high output precision, low cost and the like, so that the inertial navigation inter-travelling alignment scheme under the assistance of the odometer is more practical.
In order to complete the alignment between advances based on inertial navigation under assistance of a odometer, a corresponding error transfer model must be established, and a state variable is estimated by using a filter or an observer. In the control theory, when the system is considered as a random system, a Kalman filter is adopted to estimate the state; when considering a system as a deterministic system, a state observer is used to estimate the state. Estimation of states using kalman filters is currently the favoured solution by most researchers. However, due to the imperfection of the system error model and the unknown noise statistical characteristics, the alignment speed is slow, the device error estimation effect is poor, and the system is sensitive to noise. When the system model or the noise characteristics change greatly, the filtering result is even diverged; for the second approach, a state observer is used for the estimation of the state. The classical control theory is lack of application to system model characteristics, so that the problems of low control precision, low convergence speed, low system robustness and the like are caused. As can be seen, however, these methods are time consuming, have low alignment accuracy and are unable to eliminate and compensate for disturbances and errors in the travel process, resulting in low alignment accuracy.
In order to solve the above problems, the present invention provides a method for aligning a vehicle-mounted inertial measurement unit with a odometer during traveling, and in specific implementation, in this embodiment, firstly, an attitude transformation matrix under an inertial system is obtained according to inertial navigation and odometer information, and coarse alignment between traveling is completed according to the attitude transformation matrix, so as to obtain coarse attitude angle information. And finally, navigation can be continuously carried out according to the accurate initial attitude angle information obtained by the alignment between the advances, and the attitude angle and the position information of the vehicle can be obtained in real time.
The alignment mode between marchs is adopted, waiting for parking is not needed, and the response speed of the vehicle can be effectively improved. Meanwhile, in order to ensure the autonomous performance of the positioning and orienting equipment, the rapid orientation can be realized under the condition of no satellite assistance. The current requirements for inter-travel alignment are: 1) the vehicle can be electrically aligned in the running process without stopping and waiting, so that the alignment flexibility is improved; 2) the time is shortened.
Exemplary method
The method of the embodiment can be applied to terminal equipment which is intelligent products such as computers. In specific implementation, as shown in fig. 1, the method for aligning the vehicle-mounted inertial measurement unit with the odometer during traveling includes the following steps:
and S100, acquiring an attitude conversion matrix under an inertial system according to inertial navigation and odometer information, and finishing rough alignment between advances according to the attitude conversion matrix to obtain rough attitude angle information.
In specific implementation, the working conditions of this embodiment are as follows: the positioning and orienting equipment is powered on in the running process of the vehicle, the speed information provided by the odometer is utilized to assist the inertial navigation to finish initial alignment after the vehicle runs for 15min, and the maneuvering capacity and wartime survival capacity of the system are improved. Specifically, the gravity vector relationship in the traveling state at different times due to the linear velocity and the linear acceleration is shown in fig. 2. Because the angular velocity of the strapdown inertial navigation is far greater than the rotational angular velocity of the earth under the advancing state of the vehicle, the alignment precision of the traditional analytic coarse alignment calculation method under the advancing state cannot meet the small deviation angular condition of the linearization requirement of an error model. Therefore, the alignment algorithm capable of effectively isolating the angular motion of the carrier from the linear motion is designed based on the inertial system idea, the alignment is performed only according to the change of the gravity vector in the inertial system, and high alignment precision can be still achieved in a shaking or traveling state.
The embodiment decomposes the attitude matrix and obtains the gravity deflection in the inertial navigation system; then compensating the gravity deflection according to the gravity deflection; and finally, solving the attitude matrix to finish the coarse alignment between advances. Specifically, the present embodimentThe attitude transformation matrix is decomposed into:
wherein n represents a navigation coordinate system, b is a strapdown inertial navigation coordinate system, and n0Indicating the navigation coordinate system at the initial moment, ib0Representing an initial moment strapdown inertial set inertial coordinate system, t representing the current moment, the initial moment being 0, i0Representing the inertial coordinate system at the initial moment of time,
is a transformation matrix of the navigation coordinate system and the navigation coordinate system at the initial moment,
a transformation matrix of the strapdown inertial measurement unit inertial coordinate system and the strapdown inertial navigation coordinate system at the initial moment is obtained;
the transformation matrix is a transformation matrix of the strapdown inertial measurement unit inertial coordinate system at the initial moment and the strapdown inertial measurement unit inertial coordinate system at the initial moment;
and the transformation matrix is the initial moment inertial coordinate system and the initial moment navigation coordinate system.
The second law of Newton under the inertial system is:
wherein,
i.e., a gravity bias is generated, is calculated from inertial positioning data of the course of the alignment between runs
And further, the influence of gravity deflection is compensated, so that the coarse alignment precision is improved. Then, recursion is carried outSolving for
Can determine
Coarse alignment between runs is completed.
In this embodiment, in the course of alignment between advances, position information can only be bound once at the initial time, accurate position information cannot be obtained any more in the subsequent process, and at this time, parameters such as attitude and azimuth information, an accurate scale coefficient of the odometer, and the like are not accurately obtained, and a large error will occur when the stored parameters are directly used for position calculation in the course of alignment between advances. In order to solve the problem and reduce the initial alignment time, the project adopts a reverse backtracking technology, utilizes the same data repeatedly in different stages of alignment between progresses by means of a data storage method, and adopts a reverse navigation algorithm to realize the connection between the calculation results in different stages and the initial values in the later stage, as shown in fig. 3.
And S200, establishing an error model, and finishing the precise alignment between advances according to the error model to obtain precise attitude angle information.
In specific implementation, the present embodiment first establishes an error model of fine alignment between travels:
wherein:
RMthe radius of curvature of the meridian at the position of the strapdown inertial navigation;
is the northeast direction misalignment angle,
for the northeast direction velocity error under the navigation coordinates,
the method is a representation of the rotation angular velocity of the navigation coordinate system relative to the earth coordinate system under the navigation coordinate system.
Representing the rotation angular rate of the earth under a navigation coordinate system; λ and L respectively represent longitude and latitude of the position where the strapdown inertial navigation is located;
representing the zero offset of the gyroscope in a strapdown inertial navigation coordinate system; f is the representation of the output value of the accelerometer in the navigation coordinate system, and v is the identification of the velocity of the strapdown inertial navigation relative to the earth surface in the navigation coordinate system.
Order to
The system equation can be rewritten as:
then, the difference between the speed of strapdown inertial navigation solution and the speed of dead reckoning solution by using the odometer is selected as an observed quantity, and the following can be obtained:
wherein:
Z＝Hx+wv。
next, in this embodiment, a Sage-Husa adaptive filtering algorithm is obtained, and the observed quantity is subjected to recursive calculation according to the Sage-Husa adaptive filtering algorithm to obtainThe precise attitude angle information. Specifically, the present embodiment discretizes the system state equation and the observation equation. Adopting Sage-Husa self-adaptive filtering method to carry out recursion calculation to obtain accurate attitude transfer matrix
(i.e., the second attitude transition matrix) as follows:
discretizing the system state space model to obtain:
wherein,
wherein R iskIs to measure the noise variance matrix by using RkThe adaptive estimation method comprises the following steps:
and step S300, navigation can be continuously carried out according to the accurate initial attitude angle information obtained by alignment between advances, and the attitude angle and the position information of the vehicle are obtained in real time.
In the embodiment, the alignment scheme does not limit the driving route, the traveling distance and the traveling state in the traveling process of the vehicle, does not depend on a satellite, only needs to depend on inertial navigation and a mileometer to perform inter-traveling alignment, and achieves the alignment accuracy equivalent to that of a static base. The application of the technology can effectively expand the use convenience of the positioning and orienting equipment. The technology is similar to the shaking base alignment technology and comprises a rough alignment technology and a fine alignment technology during advancing, and meanwhile, in order to ensure the inertia precision after the alignment is finished, the reverse backtracking process of the alignment during advancing is required to be realized. In the alignment process between marches, position information can only be bound once at the initial moment, accurate position information can not be obtained any more in the subsequent process, and parameters such as attitude and azimuth information, accurate scale coefficients of the odometer and the like are not accurately obtained at the moment, so that a large error occurs when the stored parameters are directly adopted for position calculation in the alignment process between marches. In order to solve the problem, meanwhile, in order to reduce the initial alignment time, the project adopts a reverse backtracking technology, the same data is repeatedly utilized in different stages of alignment between the progresses by means of a data storage method, and a reverse navigation algorithm is adopted to realize the connection between the calculation results in different stages and the initial value in the later stage. Specifically, as shown in fig. 3, when performing the calculation, the calculation results of different stages are used as initial values for the next stage to perform the calculation. In fig. 3, at the start time (t0) of the alignment between travels, after binding the position at the start time, the coarse alignment between travels is completed after 120s to obtain the coarse attitude transfer matrix, then the fine alignment is performed, the whole fine alignment process is completed after about 300 s to obtain the accurate attitude transfer matrix, the backward navigation algorithm is used to trace back to the initial time of the fine alignment to perform combined positioning calculation, the whole alignment process between travels is completed before 900s (15min), and then the device can continue to obtain accurate attitude angle, azimuth angle and position information.
In summary, in the embodiment, first, in the inertial navigation system, an attitude transformation matrix under the inertial system is obtained, and coarse alignment between travels is completed according to the attitude transformation matrix, so as to obtain coarse attitude information. And then establishing an error model, and finishing the precise alignment between the advancing according to the error model to obtain the precise attitude angle. And finally, determining attitude angle, azimuth angle and position information according to the accurate attitude angle. The embodiment can realize the alignment between advances without preparation time, the alignment precision is the same as that of the static base, the alignment precision is effectively improved, the embodiment does not need to stop for waiting, and the alignment flexibility is improved; alignment time is also reduced, reducing the time for alignment between travels from 30min to 15 min.
Exemplary devices
As shown in fig. 4, the present embodiment further provides a vehicle-mounted inertial measurement unit traveling alignment system, which includes: a coarse alignment module 10, a fine alignment module 20, and a navigation solution module 30. Specifically, the coarse alignment module 10 is configured to obtain an attitude transformation matrix in the inertial system according to the inertial navigation and odometer information, and complete coarse alignment between travels according to the attitude transformation matrix to obtain coarse attitude angle information. And the fine alignment module 20 is configured to establish an error model, and perform fine alignment between the processes according to the error model to obtain accurate attitude angle information. The navigation calculating module 30 is configured to continue navigation according to the accurate initial attitude angle information obtained by the inter-travel alignment, and obtain the attitude angle and the position information of the vehicle in real time.
In specific implementation, the working conditions of this embodiment are as follows: the positioning and orienting equipment is powered on in the running process of the vehicle, the speed information provided by the odometer is utilized to assist the inertial navigation to finish initial alignment after the vehicle runs for 15min, and the maneuvering capacity and wartime survival capacity of the system are improved. Specifically, the gravity vector relationship in the traveling state at different times due to the linear velocity and the linear acceleration is shown in fig. 2. Because the angular velocity of the strapdown inertial navigation is far greater than the rotational angular velocity of the earth under the advancing state of the vehicle, the alignment precision of the traditional analytic coarse alignment calculation method under the advancing state cannot meet the small deviation angular condition of the linearization requirement of an error model. Therefore, the alignment algorithm capable of effectively isolating the angular motion of the carrier from the linear motion is designed based on the inertial system idea, the alignment is performed only according to the change of the gravity vector in the inertial system, and high alignment precision can be still achieved in a shaking or traveling state.
In one implementation, the coarse alignment module 10 includes:
the decomposition unit is used for decomposing the attitude matrix and acquiring gravity deflection in the inertial navigation system;
the resolving unit is used for compensating the gravity deflection according to the gravity deflection;
and the coarse alignment unit is used for solving the attitude matrix to complete the coarse alignment between the advances.
Specifically, the attitude matrix in this embodiment is decomposed into:
The second law of Newton under the inertial system is:
wherein,
i.e., a gravity bias is generated, is calculated from inertial positioning data of the course of the alignment between runs
And further, the influence of gravity deflection is compensated, so that the coarse alignment precision is improved. Then, the solution is recurrently carried out
Can determine
Coarse alignment between runs is completed.
In one implementation, the fine alignment module 20 includes:
the calculation unit is used for subtracting the speed calculated by the strapdown inertial navigation and the speed calculated by the dead reckoning by using the odometer to obtain a difference value;
an observed amount determination unit configured to take the difference value as the observed amount;
and the fine alignment unit is used for acquiring a Sage-Husa adaptive filtering algorithm and carrying out recursive calculation according to the Sage-Husa adaptive filtering algorithm to obtain the accurate attitude angle.
Based on the above embodiments, the present invention further provides a terminal device, and a schematic block diagram thereof may be as shown in fig. 5. The terminal equipment comprises a processor, a memory, a network interface, a display screen and a temperature sensor which are connected through a system bus. Wherein the processor of the terminal device is configured to provide computing and control capabilities. The memory of the terminal equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the terminal device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a vehicle inertial navigation unit and odometer travel alignment method. The display screen of the terminal equipment can be a liquid crystal display screen or an electronic ink display screen, and the temperature sensor of the terminal equipment is arranged in the terminal equipment in advance and used for detecting the operating temperature of the internal equipment.
It will be understood by those skilled in the art that the block diagram of fig. 5 is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation to the terminal device to which the solution of the present invention is applied, and a specific terminal device may include more or less components than those shown in the figure, or may combine some components, or have different arrangements of components.
In one embodiment, a terminal device is provided, where the terminal device includes a memory, a processor, and a vehicle-mounted inertial measurement unit inter-travel alignment program stored in the memory and executable on the processor, and when the processor executes the vehicle-mounted inertial measurement unit inter-travel alignment program, the following operation instructions are implemented:
acquiring an attitude transformation matrix under an inertial system according to inertial navigation and odometer information, and completing coarse alignment between advances according to the attitude transformation matrix to obtain coarse attitude angle information;
establishing an error model, and finishing the precise alignment between advances according to the error model to obtain precise attitude angle information;
and the navigation can be continuously carried out according to the accurate initial attitude angle information obtained by the alignment between the advancing processes, and the attitude angle and the position information of the vehicle can be obtained in real time.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when executed. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In summary, the invention discloses a method and a system for aligning a vehicle-mounted inertial measurement unit and a odometer between advancing, wherein the method comprises the following steps: acquiring an attitude transformation matrix under an inertial system according to inertial navigation and odometer information, and completing coarse alignment between advances according to the attitude transformation matrix to obtain coarse attitude angle information; and establishing an error model, finishing the precision alignment between advances according to the error model to obtain the accurate attitude angle information, continuously navigating according to the accurate initial attitude angle information obtained by the alignment between advances, and obtaining the attitude angle and the position information of the vehicle in real time. The invention can realize the alignment between advances without preparation time, and the alignment precision is the same as that of the static base, thereby effectively improving the alignment precision.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle-mounted inertial measurement unit and odometer inter-travel alignment method is characterized by comprising the following steps:
acquiring an attitude transformation matrix under an inertial system according to inertial navigation and odometer information, and completing coarse alignment between advances according to the attitude transformation matrix to obtain coarse attitude angle information;
establishing an error model, and finishing the precise alignment between advances according to the error model to obtain precise attitude angle information;
and the navigation can be continuously carried out according to the accurate initial attitude angle information obtained by the alignment between the advancing processes, and the attitude angle and the position information of the vehicle can be obtained in real time.
2. The vehicle-mounted inertial measurement unit and odometer alignment method according to claim 1, wherein the step of performing coarse alignment between travels according to the attitude transformation matrix to obtain coarse attitude angle information includes:
decomposing the attitude matrix and acquiring gravity deflection in the inertial navigation system;
compensating the gravity deflection according to the gravity deflection;
and solving the attitude matrix to finish the coarse alignment between advances.
3. The vehicle inertial navigation unit and odometer inter-travel alignment method according to claim 2, characterized in that the attitude matrix is decomposed into:
wherein n represents a navigation coordinate system, b is a strapdown inertial navigation coordinate system, n0Indicating the navigation coordinate system at the initial moment, ib0Representing an initial moment strapdown inertial set inertial coordinate system, t representing the current moment, the initial moment being 0, i0Representing the inertial coordinate system at the initial moment of time,
is a transformation matrix of the navigation coordinate system and the navigation coordinate system at the initial moment,
a transformation matrix of the strapdown inertial measurement unit inertial coordinate system and the strapdown inertial navigation coordinate system at the initial moment is obtained;
the method comprises the following steps of obtaining a conversion matrix of an initial moment strapdown inertial set inertial coordinate system and an initial moment strapdown inertial set inertial coordinate system;
transformation matrix for initial moment inertial coordinate system and initial moment navigation coordinate system。
4. The method for aligning the vehicle-mounted inertial measurement unit with the odometer during traveling according to claim 1, wherein the establishing of an error model and the finishing of the fine alignment between traveling according to the error model to obtain the accurate attitude angle information comprise:
and establishing a precision alignment error model between advances, which comprises attitude error, speed error, position error, gyro drift error, accelerometer bias error, odometer scale coefficient error, pitching installation error angle, azimuth installation error angle and outer rod arm error.
5. The method for aligning the vehicle-mounted inertial measurement unit with the odometer during traveling according to claim 1, wherein the establishing of an error model and the finishing of the fine alignment between traveling according to the error model to obtain the accurate attitude angle information comprise:
the speed of the strapdown inertial navigation solution is differenced with the speed of the dead reckoning solution by using the odometer, and a difference value is obtained;
and taking the difference value as the observed quantity.
6. The method for aligning the vehicle-mounted inertial measurement unit with the odometer during traveling according to claim 5, wherein the step of finishing the fine alignment between the traveling according to the error model to obtain the accurate attitude angle information comprises the following steps:
and acquiring a Sage-Husa adaptive filtering algorithm, and performing recursive calculation according to the Sage-Husa adaptive filtering algorithm to obtain the accurate attitude angle.
7. The method of on-board inertial navigation unit to odometer inter-travel alignment of claim 1, further comprising:
and during calculation, reverse backtracking is carried out, and the calculation results of different stages are used as initial values for calculation of the next stage.
8. An on-board inertial measurement unit inter-travel alignment system, the system comprising:
the rough alignment module is used for acquiring an attitude conversion matrix under an inertial system according to inertial navigation and odometer information, and finishing rough alignment between advances according to the attitude conversion matrix to obtain rough attitude angle information;
the fine alignment module is used for establishing an error model and finishing fine alignment between advances according to the error model to obtain accurate attitude angle information;
and the accurate resolving module is used for continuously navigating according to the accurate initial attitude angle information obtained by alignment between the advancing processes and acquiring the attitude angle and the position information of the vehicle in real time.
9. A terminal device comprises a memory, a processor and a vehicle-mounted inertial set inter-travel alignment program which is stored in the memory and can run on the processor, wherein when the processor executes the vehicle-mounted inertial set inter-travel alignment program, the steps of the vehicle-mounted inertial set and odometer inter-travel alignment method in any scheme are realized.
10. A computer readable storage medium, on which a vehicle-mounted inertial set travel alignment program is stored, and when the vehicle-mounted inertial set travel alignment program is executed by a processor, the steps of the vehicle-mounted inertial set and odometer travel alignment method according to any one of the above aspects are implemented.
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