CN114184209B - Inertial error suppression method for low-speed detection platform system - Google Patents
Inertial error suppression method for low-speed detection platform system Download PDFInfo
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- CN114184209B CN114184209B CN202111268698.1A CN202111268698A CN114184209B CN 114184209 B CN114184209 B CN 114184209B CN 202111268698 A CN202111268698 A CN 202111268698A CN 114184209 B CN114184209 B CN 114184209B
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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
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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
Abstract
The application provides an inertial error suppression method for a low-speed detection platform system, which comprises the following steps: acquiring mileage output by an odometer under a carrier coordinate system; acquiring the position increment of the odometer under a carrier coordinate system; obtaining an observation matrix according to the observed quantity of the system; acquiring a system state transition matrix; estimating a state variable through a Kalman filtering algorithm, and correcting the mounting error of the odometer based on the estimated state variable; and acquiring lateral accumulated position errors caused by gyro drift after the odometer errors are corrected, acquiring gyro drift equivalent angular velocity based on the lateral accumulated position errors caused by gyro drift, and finishing inertial error correction of the track detection platform system based on the gyro drift equivalent angular velocity. By applying the technical scheme of the application, the technical problem that the heading error of the inertial navigation system cannot be deeply corrected by directly using the site positioning result as the observed quantity in the prior art is solved.
Description
Technical Field
The application relates to the technical field of inertial orbit detection, in particular to an inertial error suppression method for a low-speed detection platform system.
Background
In the track fine tuning process, accurate positioning by using a total station and a CPIII point is still a main means of absolute measurement at present. The total station can be used for obtaining single-point sub-millimeter precision position information, a site is generally arranged every 60-120 m during actual measurement, and the measurement precision between sites is realized through an inertial integrated navigation system. The accuracy of the differential satellite receiver is easily interfered by various factors, and the magnitude of errors generated by the interference is larger than the working distance of the low-speed detection platform and cannot be ignored in most cases, so that the low-speed detection platform generally adopts an inertia/odometer combination to measure orbit parameters between stations of the total station, and utilizes high-accuracy positioning information at the stations to correct the accumulated errors of the inertia/odometer combination. However, due to the sparsity of the station, the station positioning result cannot be directly used as the observed quantity to further correct the course error of the inertial navigation system, so that a standing wave-shaped track error can appear on the corrected measurement track, and the station output error is 0.
Disclosure of Invention
The application provides an inertial error suppression method for a low-speed detection platform system, which can solve the technical problem that the heading error of an inertial navigation system cannot be deeply corrected by directly using a site positioning result as an observed quantity in the prior art.
The application provides an inertial error suppression method for a low-speed detection platform system, which comprises the following steps: acquiring mileage output by an odometer under a carrier coordinate system; obtaining the position increment of the odometer under the carrier coordinate system based on the odometer output under the carrier coordinate system; taking the difference value between the position increment of the inertial navigation system under the carrier coordinate system and the position increment of the odometer under the carrier coordinate system as a system observed quantity, and acquiring an observation matrix according to the system observed quantity; acquiring a system state transition matrix; estimating a state variable based on a system observation matrix and a system state transition matrix through a Kalman filtering algorithm, and correcting an odometer installation error based on the estimated state variable; based on the corrected odometer installation error, acquiring a lateral accumulated position error caused by gyro drift after the odometer error is corrected, acquiring a gyro drift equivalent angular velocity based on the lateral accumulated position error caused by gyro drift, and finishing inertial error correction of the track detection platform system based on the gyro drift equivalent angular velocity.
Further, after the inertial error correction of the track detection platform system is completed, the inertial error suppression method further comprises: comparing the inertia error of the corrected track detection platform system with a set inertia error precision threshold range, and repeating the steps when the inertia error of the corrected track detection platform system exceeds the set inertia error precision threshold range until the inertia error of the corrected track detection platform system is within the set inertia error precision threshold range.
Further, the liningThe mileage output by the odometer under the carrier coordinate system can be based onTo obtain, wherein->For the mileage output by the odometer at time k under the carrier coordinate system, < >>K is an installation relation matrix between the odometer and the inertial navigation system D For the odometer scale factor, +.>In the form of pulse number vector of the odometer under the odometer coordinate system, N k The number of pulses output by the odometer during the kth sampling period.
Further, the position increment of the odometer under the carrier coordinate system can be based onTo obtain, wherein->Delta alpha is the position increment of the odometer under the carrier coordinate system θ As pitch angle error, delta alpha ψ Delta K is the heading angle error D Error of scale factor for odometer,/->For the mileage output by the odometer along the x-axis in the carrier coordinate system at time k,for the mileage output by the odometer at time k in the carrier coordinate system along the y-axis, +.>On-load at time k for odometerMileage output along z axis under the body coordinate system, X is state variable.
Further, the system observance can be based onAcquisition of (I) in (I)>For the position increment of the inertial navigation system under the carrier coordinate system, H k For observing matrix +.>
Further, the position increment of the inertial navigation system under the carrier coordinate systemCan be according toTo obtain, wherein->For the position increment of the inertial navigation system in the navigation coordinate system,/->For the speed of the inertial navigation system in the navigation coordinate system at time k,/>For the speed of the inertial navigation system at the moment k+1 in the navigation coordinate system, T s For calculating the period.
Further, correcting the odometer installation error based on the estimated state variable specifically includes: and correcting the installation relation matrix between the inertial navigation system and the odometer based on the estimated state variable, so as to finish correction of the installation error of the odometer.
Further, inertial navigationThe installation relation matrix between the system and the odometer can be based onCorrection is carried out, and the scale coefficient of the odometer can be according to K D,k+1 ＝(1+δK D,k )K D,k Make corrections in which->For the installation relation matrix between the k+1 moment odometer and the inertial navigation system, +.>For the installation relation matrix between the moment K odometer and the inertial navigation system, K D,k+1 For the scale factor of the milemeter at the moment k+1, K D,k And (5) the scale coefficient of the mileometer at the moment k.
Further, the gyro drift equivalent angular velocity can be based onAnd acquiring, wherein deltax (t) is a lateral accumulated position error caused by gyro drift, omega is a gyro drift equivalent angular rate, t is the time elapsed after starting from the last station, v is the average pushing speed of the current data segment, and tau is any moment.
By applying the technical scheme of the application, the application provides an inertial error suppression method for a low-speed detection platform system, which is used for estimating a state variable based on a Kalman filtering algorithm by acquiring an observation matrix and a system state transition matrix and correcting an odometer installation error according to the estimated state variable; after the installation error of the odometer is corrected, the heading error can be reversely deduced through the position error at the station, namely, the gyro drift equivalent angular velocity is obtained, and the inertial error correction of the track detection platform system is completed based on the gyro drift equivalent angular velocity. The standing wave-shaped error caused by the fixed point correction of the total station can be obviously reduced, and compared with the traditional inertial/odometer combined navigation algorithm, the suppression effect of the error of the inertial navigation system is more obvious.
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The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram illustrating the change in heading difference for two curves provided in accordance with a specific embodiment of the present application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
According to a specific embodiment of the present application, there is provided an inertial error suppression method for a low-speed detection platform system, the inertial error suppression method including: acquiring mileage output by an odometer under a carrier coordinate system; obtaining the position increment of the odometer under the carrier coordinate system based on the odometer output under the carrier coordinate system; taking the difference value between the position increment of the inertial navigation system under the carrier coordinate system and the position increment of the odometer under the carrier coordinate system as a system observed quantity, and acquiring an observation matrix according to the system observed quantity; acquiring a system state transition matrix; estimating a state variable based on a system observation matrix and a system state transition matrix through a Kalman filtering algorithm, and correcting an odometer installation error based on the estimated state variable; based on the corrected odometer installation error, acquiring a lateral accumulated position error caused by gyro drift after the odometer error is corrected, acquiring a gyro drift equivalent angular velocity based on the lateral accumulated position error caused by gyro drift, and finishing inertial error correction of the track detection platform system based on the gyro drift equivalent angular velocity.
By applying the configuration mode, the inertial error suppression method for the low-speed detection platform system is provided, and the inertial error suppression method estimates the state variable based on a Kalman filtering algorithm by acquiring an observation matrix and a system state transition matrix and corrects the mounting error of the odometer according to the estimated state variable; after the installation error of the odometer is corrected, the heading error can be reversely deduced through the position error at the station, namely, the gyro drift equivalent angular velocity is obtained, and the inertial error correction of the track detection platform system is completed based on the gyro drift equivalent angular velocity. The standing wave-shaped error caused by the fixed point correction of the total station can be obviously reduced, and compared with the traditional inertial/odometer combined navigation algorithm, the suppression effect of the error of the inertial navigation system is more obvious. In the application, the low-speed detection platform generally refers to a detection platform with the speed of less than or equal to 2 m/s.
In the present application, in order to further improve the estimation accuracy, after completing the inertial error correction of the track detection platform system, the inertial error suppression method further includes: comparing the inertia error of the corrected track detection platform system with a set inertia error precision threshold range, and repeating the steps when the inertia error of the corrected track detection platform system exceeds the set inertia error precision threshold range until the inertia error of the corrected track detection platform system is within the set inertia error precision threshold range. Under the configuration mode, through evaluating the inertia error after each correction, when the set precision requirement is not met, the iterative calculation mode can be carried out, and the estimation precision is further improved.
In the application, in order to realize the inertial error suppression for the track detection platform system, the mileage output by the odometer under the carrier coordinate system needs to be acquired first. As a specific embodiment of the present application, the low speed rail detection system includes an inertial navigation system and an odometer, and the low speed rail detection system is brought into close contact with the rail by a clamping device, so that the lateral speed and the vertical speed are always 0, and the forward speed is obtained by collecting the odometer output. The mileage output by the odometer under the carrier coordinate system can be based onTo obtain, wherein->For the mileage output by the odometer at time k under the carrier coordinate system, < >>K is an installation relation matrix between the odometer and the inertial navigation system D For the odometer scale factor, +.>In the form of pulse number vector of the odometer under the odometer coordinate system, N k The number of pulses output by the odometer during the kth sampling period.
Further, the installation relation matrix between the odometer and the inertial navigation systemCan be expressed in the form of Euler angles +.>And then obtaining the position increment of the odometer under the carrier coordinate system based on the odometer output under the carrier coordinate system. Let delta K D Indicating the error of the scale coefficient of the odometerThe arrangement can be expressed in the form of an error vector, i.e. the position increment of the odometer in the carrier coordinate system is +.>Wherein (1)>Delta alpha is the position increment of the odometer under the carrier coordinate system θ As pitch angle error, delta alpha ψ Delta K is the heading angle error D Error of scale factor for odometer,/->Is taken as the insideMileage output by the odometer along the x-axis in the carrier coordinate system at time k, +.>For the mileage output by the odometer at time k in the carrier coordinate system along the y-axis, +.>For the mileage output by the odometer along the z-axis in the carrier coordinate system at time k, X is the state variable.
Further, after the position increment of the odometer under the carrier coordinate system is obtained, the system observation quantity is calculated by adopting the position increment in unit time, and the characteristic of high short-time precision of the inertial navigation system can be fully utilized, so that the estimation of the installation error and the scale coefficient error is more accurate. Within time k, the position increment of the inertial navigation system isWherein (1)>For the position increment of the inertial navigation system in the navigation coordinate system,/->For the speed of the inertial navigation system in the navigation coordinate system at time k,/>For the speed of the inertial navigation system at the moment k-1 in the navigation coordinate system, T s For calculating the period. The position increment of the inertial navigation system under the navigation coordinate system is converted into the carrier coordinate system b system, and the inertial navigation system can be obtained
Selecting the difference value between the position increment of the inertial navigation system under the carrier coordinate system and the position increment of the odometer under the carrier coordinate system as a system observed quantity Z k ：
Based on the observed quantity of the system, an observation matrix H is obtained k ，Wherein (1)>Is the position increment of the inertial navigation system under the carrier coordinate system.
Further, after the system observation matrix is obtained, the system state transition matrix can be approximated as a unit matrix, i.e., F, in consideration of the small short-time variation of the error vector k ＝I。
Based on a system observation matrix and a system state transition matrix, a Kalman filtering algorithm is used for carrying out on a state variable X k ＝[δK D,k δα θ,k δα ψ,k ] T And estimating, and correcting the mounting error of the odometer based on the estimated state variable X.
In particular, the method comprises the steps of,
wherein X is k,k-1 K is a one-step prediction state k For filtering gain matrix, X k X is the state variable at time k k-1 P, which is the state variable at time k-1 k,k-1 For one-step prediction of the mean square error matrix, P k For the mean square error matrix at k moment, P k-1 For the mean square error matrix at the moment k-1, Q k R is the system noise matrix k For measuring the noise matrix.
In the present application, correcting the odometer installation error based on the estimated state variable specifically includes: and correcting the installation relation matrix between the inertial navigation system and the odometer based on the estimated state variable, so as to finish correction of the installation error of the odometer. Wherein, inertial navigation system and odometerThe installation relation matrix between the two can be based onCorrection is carried out, and the scale coefficient of the odometer can be according to K D,k+1 ＝(1+δK D,k )K D,k Make corrections in which->For the installation relation matrix between the k+1 moment odometer and the inertial navigation system, +.>For the installation relation matrix between the moment K odometer and the inertial navigation system, K D,k+1 For the scale factor of the milemeter at the moment k+1, K D,k And (5) the scale coefficient of the mileometer at the moment k.
After the installation error of the odometer is corrected, the measurement position error when the total station arrives at the station setting place is basically caused by the heading gyro drift in the measurement process, and as shown in fig. 1, the error growth curve is a curve and cannot be eliminated by correcting the heading error. In addition, due to the influence of noise in the measuring process, a larger heading error can be introduced by comparing the change of the heading difference values of the two curves (the first curve is a true value curve and the second curve is a measured value curve containing the error), so that the position error is needed to be used for reversely deducing the heading gyro drift error.
In the application, according to the error generation principle, the relation between the heading gyro drift and the form mileage can be expressed asWherein DeltaX is the lateral accumulated position error caused by gyro drift after correction of the odometer error, omega is the gyro drift equivalent angular rate, t is the elapsed time from the last station, v is the average push speed of the current data segment, deltat is the system sampling period, and omega is the equivalent angular rate of gyro drift>Is a discrete of (a)Conversion of the formalized form into a continuous-time-function form is possible>Where Δx (t) is the lateral cumulative position error due to gyro drift, and τ is any time.
For a further understanding of the present application, the following detailed description of the method for suppressing inertial error for a low-speed inspection platform system according to the present application is provided with reference to specific embodiments.
According to a specific embodiment of the present application, there is provided an inertial error suppression method for a low-speed detection platform system, the inertial error suppression method specifically including the following steps.
Acquiring mileage output by an odometer under a carrier coordinate system; the mileage output by the odometer under the carrier coordinate system can be based onTo obtain, wherein->For the mileage output by the odometer at time k under the carrier coordinate system, < >>K is an installation relation matrix between the odometer and the inertial navigation system D For the odometer scale factor, +.>In the form of pulse number vector of the odometer under the odometer coordinate system, N k The number of pulses output by the odometer during the kth sampling period.
Installation relation matrix between odometer and inertial navigation systemCan be expressed in terms of Euler angles
Obtaining the position increment of the odometer under the carrier coordinate system based on the odometer output under the carrier coordinate system; let delta K D Indicating the error of the scale coefficient of the odometerThe arrangement can be expressed in the form of an error vector, i.e. the position increment of the odometer in the carrier coordinate system is +.>Wherein (1)>Delta alpha is the position increment of the odometer under the carrier coordinate system θ As pitch angle error, delta alpha ψ Delta K is the heading angle error D Error of scale factor for odometer,/->For the mileage output by the odometer at time k in the carrier coordinate system along the x-axis +.>For the mileage output by the odometer at time k in the carrier coordinate system along the y-axis, +.>For the mileage output by the odometer along the z-axis in the carrier coordinate system at time k, X is the state variable.
Taking the difference value between the position increment of the inertial navigation system under the carrier coordinate system and the position increment of the odometer under the carrier coordinate system as a system observed quantity, and acquiring an observation matrix according to the system observed quantity; acquiring a system state transition matrix; based on the system observation matrix and the system state transition matrix, estimating the state variable through a Kalman filtering algorithm, and correcting the installation error of the odometer based on the estimated state variable. The system observation quantity can be based onThe acquisition is performed, wherein,for the position increment of the inertial navigation system under the carrier coordinate system, H k In order to observe the matrix,position increment of inertial navigation system under carrier coordinate system>Can be according toTo obtain, wherein->For the position increment of the inertial navigation system in the navigation coordinate system, < >>For the speed of the inertial navigation system in the navigation coordinate system at time k,/>For the speed of the inertial navigation system at the moment k-1 in the navigation coordinate system, T s For calculating the period.
Based on the corrected odometer installation error, acquiring a lateral accumulated position error caused by gyro drift after the odometer error is corrected, acquiring a gyro drift equivalent angular velocity based on the lateral accumulated position error caused by gyro drift, and finishing inertial error correction of the track detection platform system based on the gyro drift equivalent angular velocity.
Comparing the corrected inertial error of the track detection platform system with a set inertial error precision threshold range, and repeating the steps until the corrected inertial error of the track detection platform system is within the set inertial error precision threshold range when the corrected inertial error of the track detection platform system exceeds the set inertial error precision threshold range.
In summary, the application provides an inertial error suppression method for a low-speed detection platform system, which is used for estimating a state variable based on a Kalman filtering algorithm by acquiring an observation matrix and a system state transition matrix and correcting an odometer installation error according to the estimated state variable; after the installation error of the odometer is corrected, the heading error can be reversely deduced through the position error at the station, namely, the gyro drift equivalent angular velocity is obtained, and the inertial error correction of the track detection platform system is completed based on the gyro drift equivalent angular velocity. The standing wave-shaped error caused by the fixed point correction of the total station can be obviously reduced, and compared with the traditional inertial/odometer combined navigation algorithm, the suppression effect of the error of the inertial navigation system is better and more obvious.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. An inertial error mitigation method for a low-speed detection platform system, the inertial error mitigation method comprising:
acquiring mileage output by an odometer under a carrier coordinate system;
acquiring the position increment of the odometer under the carrier coordinate system based on the odometer output under the carrier coordinate system by calculation;
taking the difference value between the position increment of the inertial navigation system under the carrier coordinate system and the position increment of the odometer under the carrier coordinate system as a system observed quantity, and acquiring an observation matrix according to the system observed quantity;
acquiring a system state transition matrix;
based on the system observation matrix and the system state transition matrix, estimating a state variable through a Kalman filtering algorithm, wherein the state variable comprises an odometer scale coefficient error, a pitch angle error and a course angle error;
correcting the mounting error of the odometer based on the estimated state variable, specifically comprising: correcting an installation relation matrix between the inertial navigation system and the odometer based on the estimated state variable, so as to finish correction of the installation error of the odometer;
based on the corrected odometer installation error, acquiring a lateral accumulated position error caused by gyro drift after the odometer error is corrected,
acquiring a gyro drift equivalent angular velocity based on the lateral accumulated position error caused by gyro drift, wherein the gyro drift is obtained by using the gyro drift equivalent angular velocityEquivalent angular velocity according toAcquiring, wherein deltax (t) is a lateral accumulated position error caused by gyro drift, omega is a gyro drift equivalent angular rate, t is the time elapsed after starting from the last station, v is the average pushing speed of the current data segment, and tau is any moment;
and finishing inertial error correction of the low-speed detection platform system based on the gyro drift equivalent angular velocity.
2. The inertial error mitigation method for a low-speed detection platform system according to claim 1, wherein after completion of inertial error correction for the low-speed detection platform system, the inertial error mitigation method further comprises: comparing the corrected inertial error of the low-speed detection platform system with a set inertial error precision threshold range, and repeating the steps when the corrected inertial error of the low-speed detection platform system exceeds the set inertial error precision threshold range until the corrected inertial error of the low-speed detection platform system is within the set inertial error precision threshold range.
3. The inertial error mitigation method for a low-speed inspection platform system according to claim 1, wherein the mileage output by the odometer in the carrier coordinate system is based onTo obtain, wherein->For the mileage output by the odometer at time k under the carrier coordinate system, < >>K is an installation relation matrix between the odometer and the inertial navigation system D For the odometer scale factor, +.>In the form of pulse number vector of the odometer under the odometer coordinate system, N k The number of pulses output by the odometer during the kth sampling period.
4. The inertial error mitigation method for a low-speed inspection platform system according to claim 3, wherein the position increment of the odometer in the carrier coordinate system is based onTo obtain, wherein->Delta alpha is the position increment of the odometer under the carrier coordinate system θ As pitch angle error, delta alpha ψ Delta K is the heading angle error D Error of scale factor for odometer,/->For the mileage output by the odometer at time k in the carrier coordinate system along the x-axis +.>For the mileage output by the odometer at time k in the carrier coordinate system along the y-axis, +.>For the mileage output by the odometer along the z-axis in the carrier coordinate system at time k, X is the state variable.
5. The inertial error mitigation method for a low-speed inspection platform system according to claim 4, wherein said system observables Z k According toAcquisition of (I) in (I)>For the position increment of the inertial navigation system under the carrier coordinate system, H k For observing matrix +.>
6. The inertial error mitigation method for a low-speed inspection platform system according to claim 5, wherein the inertial navigation system is position-delta in a carrier coordinate systemAccording to-> To obtain, wherein->For the position increment of the inertial navigation system in the navigation coordinate system, < >>For the speed of the inertial navigation system in the navigation coordinate system at time k,/>For the speed of the inertial navigation system at the moment k+1 in the navigation coordinate system, T s For calculating the period.
7. The method for inertial error mitigation of a low-speed inspection platform system of claim 4 wherein,the installation relation matrix between the inertial navigation system and the odometer is based onCorrecting the scale coefficient of the odometer according to K D,k+1 ＝(1+δK D,k )K D,k Make corrections in which->For the installation relation matrix between the k+1 moment odometer and the inertial navigation system, +.>For the installation relation matrix between the moment K odometer and the inertial navigation system, K D,k+1 For the scale factor of the milemeter at the moment k+1, K D,k And (5) the scale coefficient of the mileometer at the moment k.
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