KR102595677B1 - 위치 정보 결정 방법, 장치 및 기기 - Google Patents

위치 정보 결정 방법, 장치 및 기기 Download PDF

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Publication number
KR102595677B1
KR102595677B1 KR1020210047847A KR20210047847A KR102595677B1 KR 102595677 B1 KR102595677 B1 KR 102595677B1 KR 1020210047847 A KR1020210047847 A KR 1020210047847A KR 20210047847 A KR20210047847 A KR 20210047847A KR 102595677 B1 KR102595677 B1 KR 102595677B1
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KR
South Korea
Prior art keywords
axis
acceleration
sequence
angular velocity
determining
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KR1020210047847A
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English (en)
Korean (ko)
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KR20210049044A (ko
Inventor
빙 리
즤펑 쪼우
?펑 쪼우
Original Assignee
아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디.
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Application filed by 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디. filed Critical 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디.
Publication of KR20210049044A publication Critical patent/KR20210049044A/ko
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Publication of KR102595677B1 publication Critical patent/KR102595677B1/ko

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    • 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
    • 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
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • 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
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
KR1020210047847A 2020-05-15 2021-04-13 위치 정보 결정 방법, 장치 및 기기 KR102595677B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010411354.0A CN111795695B (zh) 2020-05-15 2020-05-15 位置信息确定方法、装置及设备
CN202010411354.0 2020-05-15

Publications (2)

Publication Number Publication Date
KR20210049044A KR20210049044A (ko) 2021-05-04
KR102595677B1 true KR102595677B1 (ko) 2023-10-27

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KR1020210047847A KR102595677B1 (ko) 2020-05-15 2021-04-13 위치 정보 결정 방법, 장치 및 기기

Country Status (3)

Country Link
JP (1) JP7216761B2 (ja)
KR (1) KR102595677B1 (ja)
CN (1) CN111795695B (ja)

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JP2008275530A (ja) 2007-05-02 2008-11-13 Alpine Electronics Inc 位置検出装置及び位置検出方法
WO2009031064A2 (en) * 2007-09-03 2009-03-12 Koninklijke Philips Electronics N.V. Extracting inertial and gravitational vector components from acceleration measurements
JP2011122921A (ja) * 2009-12-10 2011-06-23 Mitsubishi Electric Corp 位置標定装置、位置標定方法、位置標定プログラム、速度ベクトル算出装置、速度ベクトル算出方法および速度ベクトル算出プログラム
WO2014119799A1 (en) 2013-02-01 2014-08-07 Ricoh Company, Ltd. Inertial device, method, and program
CN111121764A (zh) 2019-12-14 2020-05-08 国网上海市电力公司 一种基于形态学滤波的惯导载体运行轨迹修正方法

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US8855929B2 (en) * 2010-01-18 2014-10-07 Qualcomm Incorporated Using object to align and calibrate inertial navigation system
CN103090867B (zh) * 2012-11-02 2015-06-17 哈尔滨工程大学 相对地心惯性系旋转的光纤陀螺捷联惯性导航系统误差抑制方法
CN103900565B (zh) * 2014-03-04 2016-11-23 哈尔滨工程大学 一种基于差分gps的惯导系统姿态获取方法
CN103900566B (zh) * 2014-03-06 2016-09-14 哈尔滨工程大学 一种消除地球自转角速度对旋转调制型捷联惯导系统精度影响的方法
CN105628025B (zh) * 2015-12-31 2018-06-29 中国人民解放军国防科学技术大学 一种恒速偏频/机抖激光陀螺惯导系统导航方法
CN106767787A (zh) * 2016-12-29 2017-05-31 北京时代民芯科技有限公司 一种紧耦合gnss/ins组合导航装置
KR20180091357A (ko) * 2017-02-06 2018-08-16 한국전자통신연구원 추측 항법을 이용한 자율주행 차량의 제어 방법 및 장치
CN107525505A (zh) * 2017-07-27 2017-12-29 河南思维轨道交通技术研究院有限公司 机车轮对空转及滑行检测方法及系统
CN107830858B (zh) * 2017-09-30 2023-05-23 南京航空航天大学 一种基于重力辅助的手机航向估计方法
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CN108955671B (zh) * 2018-04-25 2020-06-23 珠海全志科技股份有限公司 一种基于磁偏角、磁倾角的卡尔曼滤波导航方法
CN108819651B (zh) * 2018-07-06 2020-10-02 燕山大学 一种应急救援车辆的车身姿态调平控制系统及方法
CN109631887B (zh) * 2018-12-29 2022-10-18 重庆邮电大学 基于双目、加速度与陀螺仪的惯性导航高精度定位方法
CN109883444B (zh) * 2019-02-25 2022-03-25 航天科工防御技术研究试验中心 一种姿态角耦合误差补偿方法、装置及电子设备
CN110133692B (zh) * 2019-04-18 2023-01-31 武汉苍穹融新科技有限公司 惯导技术辅助的高精度gnss动态倾斜测量系统及方法
CN110375730B (zh) * 2019-06-12 2021-07-27 深圳大学 基于imu和uwb融合的室内定位导航系统
CN110940336B (zh) * 2019-12-30 2022-01-07 河北科技大学 捷联惯导仿真定位解算方法、装置及终端设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008275530A (ja) 2007-05-02 2008-11-13 Alpine Electronics Inc 位置検出装置及び位置検出方法
WO2009031064A2 (en) * 2007-09-03 2009-03-12 Koninklijke Philips Electronics N.V. Extracting inertial and gravitational vector components from acceleration measurements
JP2011122921A (ja) * 2009-12-10 2011-06-23 Mitsubishi Electric Corp 位置標定装置、位置標定方法、位置標定プログラム、速度ベクトル算出装置、速度ベクトル算出方法および速度ベクトル算出プログラム
WO2014119799A1 (en) 2013-02-01 2014-08-07 Ricoh Company, Ltd. Inertial device, method, and program
CN111121764A (zh) 2019-12-14 2020-05-08 国网上海市电力公司 一种基于形态学滤波的惯导载体运行轨迹修正方法

Also Published As

Publication number Publication date
JP2021107824A (ja) 2021-07-29
CN111795695B (zh) 2022-06-03
KR20210049044A (ko) 2021-05-04
JP7216761B2 (ja) 2023-02-01
CN111795695A (zh) 2020-10-20

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