RU2773872C2 - Odometric navigation system - Google Patents

Abstract

FIELD: navigation.

SUBSTANCE: invention relates to the field of apparatuses for determining the coordinates of a land-based vehicle, in particular, to odometric navigation systems. The odometric navigation system additionally comprises a course correction unit and a memory apparatus, wherein the output of the course correction unit is connected with the third input of the computing apparatus, the first input is connected with the second output of the course system, the second input is connected with the third output of the computing apparatus, and the third input is connected with the output of the memory apparatus.

EFFECT: ensured preset accuracy of measurement of the directional angle of the longitudinal axis of a wheeled vehicle without periodic stops thereof for correcting the course system.

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Description

The invention relates to the field of devices for determining the coordinates of the location of a land vehicle, in particular, to odometric navigation systems, and can be applied to land navigation of moving objects on a wheeled chassis.

Known odometric navigation systems include a mechanical path sensor connected to the undercarriage of a wheeled vehicle, a heading system, a computing device, a heading indicator, and an indicator tablet (see, for example, [1, 2]). However, the accuracy of obtaining in such systems information about the directional angle of the longitudinal axis of the vehicle, used for calculating the increments of coordinates, significantly depends on the error of the heading system, due to the time drift (departure) of the azimuthal gyroscope, on the basis of which it is built. To compensate for the course system drift in the process of vehicle movement along a given route in modern odometric navigation systems, its periodic correction is carried out using an additional device (for example, a gyrocompass) by means of the initial azimuth orientation mode. To correct the heading system, a long stop of the vehicle is required for the duration of the initial azimuth orientation mode.

The purpose of the present invention is to provide a given accuracy of measuring the directional angle of the longitudinal axis of a wheeled vehicle without carrying out its periodic stops to correct the course system.

This goal is achieved by the fact that in the proposed device, unlike the prototype, a course correction block and a memory device are additionally introduced, while the course correction block output is connected to the third input of the computing device, the first input is connected to the second course system output, the second input is connected to the third output computing device, and the third input is connected to the output of the storage device.

The essence of the invention is illustrated in the drawing (Fig. 1), which shows the odometric navigation system.

The device includes a mechanical path sensor 1, the output of which is connected to the first input of the computing device 3. The first output of the exchange rate system 2 is connected to the second input of the computing device, the output of the course correction unit 6 is connected to the third input. the second output of the heading system 2, the output of the memory device 7 is connected to the third input. The outputs of the computing device 3 are connected to the inputs of the heading indicator 4, the indicator tablet 5 and the second input of the course correction block 6.

The device works as follows (Fig. 2). When a wheeled vehicle moves along a given route, in each i-th cycle of measuring navigation information, a signal is sent from the output of the mechanical path sensor 1 to the first input of the computing device 3, which contains information S _i about the length of the segment of the distance traveled measured in this cycle.

From the output of the exchange rate system 2 to the second input of the computing device 3, as well as to the first input of the course correction block 6, the measuring information about the value α _i of the directional angle of the longitudinal axis of the vehicle is received. According to the obtained values of S _i and α _i in the computing device 3, flat rectangular coordinates X _i and Y _i of the current location of the vehicle are calculated:

where X _ref and Y _ref - rectangular coordinates of the starting point of the route;

n is the number of navigation information measurement cycles obtained for the entire time the wheeled vehicle was moving along a given route.

и

прямоугольных координат начала участка курсовой коррекции А-Б заданного маршрута движения транспортного средства.From the second and third outputs of the computing device 3, the signals carrying information about the rectangular coordinates X _i and Y _i of the current location of the wheeled vehicle are fed, respectively, to the input of the indicator tablet 5 and to the second input of the course correction block 6, to the third input of which from the memory device 7 also receives information about the values

and

rectangular coordinates of the beginning of the course correction section A-B of the given route of the vehicle.

Signals carrying information about the directional angle α _i of the longitudinal axis of the wheeled vehicle are received from the first output of the computing device to the input of the course indicator 4.

и

. Для их сравнения используются следующие неравенства:In the course correction block 6, the coordinates X _i and Y _i in each i-th measurement cycle are compared with the values of the coordinates

and

. To compare them, the following inequalities are used:

, а также Y_i и

, соответственно.where ΔX and ΔY are the allowable values of the differences of the rectangular coordinates X _i and

, as well as Y _i and

, respectively.

With the simultaneous fulfillment of these inequalities (conditions) in the course correction block 6, the calculation of the amendment Δα to the measured value α _i of the directional angle of the longitudinal axis of the wheeled vehicle begins. Expressions are used for calculation

и

- значения прямоугольных координат конца участка курсовой коррекции А-Б заданного маршрута движения транспортного средства,where

and

- the values of the rectangular coordinates of the end of the course correction section A-B of the given route of the vehicle,

m - the number of navigation information measurement cycles obtained during the movement of a wheeled vehicle along the course correction section.

и

. Для их сравнения используются следующие неравенства:At the same time, in the course correction block, the coordinates X _i and Y _i in each i-th measurement cycle are compared with the values of the coordinates

and

. To compare them, the following inequalities are used:

With the simultaneous fulfillment of these inequalities, the calculation of the amendment Δα is completed, and its value is fed to the third input of the computing device 3, in which this amendment is used to calculate the refined values of the rectangular coordinates X _i and Y _i of the current location of the vehicle in the process of its further movement along a given route:

The values of the parameters ΔХ and ΔY are set according to the results of special tests of the odometric navigation system and, in the general case, are equal to the limiting value of the error in determining the rectangular coordinates of the vehicle's location by the odometric navigation system.

,

и

,

, соответственно, начала и конца участка курсовой коррекции определяются заблаговременно в процессе геодезической привязки заданного маршрута движения колесного транспортного средства и записываются в запоминающее устройство 7. Погрешность определения данных координат на порядок меньше погрешности одометрической системы навигации.Coordinate values

,

and

,

, respectively, the beginning and end of the course correction section are determined in advance in the process of geodetic referencing of a given route of movement of a wheeled vehicle and are recorded in the memory device 7. The error in determining these coordinates is an order of magnitude less than the error of the odometric navigation system.

Straight sections of a given route are selected as course correction sections, the length of which is at least ten times greater than the maximum error of the odometric navigation system.

The claimed device provides correction of the heading system of the odometric navigation system without carrying out periodic stops of the vehicle on a given route. This ensures the required accuracy of measuring the directional angle of the longitudinal axis of the wheeled vehicle and, ultimately, the specified accuracy of determining the flat rectangular coordinates of its current location is achieved. The use of the proposed device also helps to reduce, by eliminating the need for its stops to correct the course system, the time spent by the vehicle to pass a given route.

Analogues:

Polevoy V.A. "Working with a three-coordinate topographic location". M .: "Nedra", 1978, p. 25.

Psarev A.A. etc. "Military Topography". M .: "Voenizdat", 1986, p. 267 (prototype).

Claims (1)

An odometric navigation system, comprising a mechanical path sensor, a heading system, a computing device, a heading indicator and an indicator tablet, wherein the output of the mechanical path sensor is connected to the first input of the computing device, to the second input of which the heading system output is connected, the outputs of the computing device are connected to the inputs of the heading indicator and the tablet indicator, characterized in that it additionally introduced a course correction unit and a memory device, while the output of the course correction unit is connected to the third input of the computing device, the first input is connected to the second output of the course system, the second input is connected to the third output of the computing device, and the third the input is connected to the output of the storage device.

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