TW486576B - Vehicle self-carried positioning method and system thereof - Google Patents

Abstract

A vehicle self-carried positioning system, carried in a vehicle, includes an inertial measurement unit, a north finder, a velocity producer, a navigation processor, a wireless communication device, and display device and map database. Output signals of the inertial measurement unit, the velocity producer, and the north finder are processed to obtain highly accurate position measurements of a vehicle on land and in water, and the vehicle position information can be exchanged with other users through the wireless communication device, and the location and surrounding information can be displayed on the display device by accessing a map database with the vehicle position information.

Description

V. Description of the invention (1) This application is a formal application, and its pre-application number is: 60 / 167,830 ′ The application date is: 29th, 1999. The invention relates to a positioning method and system, more specifically, to a carrier self-contained positioning method and system, especially for land and water carriers. It can obtain high-precision position measurement of the carrier on land and water. The wireless, letter device exchanges carrier location information with other users, and by accessing the map database with the location information, the display device can provide location and surrounding environment information display with the help of the display device. The current carrier navigator relies on Global Positioning System (GPS, G10bal Positioning Systeffl). EGPS is a satellite navigation system that is owned, arranged and operated, but is open to commercial users worldwide. Alas, GPS is easy. It is blocked and obstructed, especially on land. Therefore, GPS receivers often cannot provide continuous positioning.

Inertlal N- ^ atlon Stsye.) The system does not need to receive any external high-frequency signals. :: The cost, volume, power consumption, and drift of the second navigation system make it not used for commercial carrier navigation purposes. Power Consumption develops a cost, volume, and two suitable positioning system for the operation of commercial carriers, which can be used in GPS signal environments. 1 " Such as tunnels, forests and urban areas, and high-electron countermeasures systems, the purpose is to provide a carrier self-contained positioning method and determine high-precision position information on the soil and water, such as

Page 5 5. Description of the invention (2). &Quot;: --- With GPS or radar correction, the degree of movement is better than 1% of the distance, straight and neutral measurement equipment f (IMU, lnertial Measurement Unit) The velocity is f, and the output signal of the north seeker is processed to obtain high-precision position information of the carrier on land and water. ^ Another object of the present invention is to provide a carrier-based self-contained positioning system. Its information from IMU, speed generator, and north seeker uses software and hardware modules to achieve high-precision autonomous navigation solutions, including the following: Capabilities: (1) Autonomous navigation. (2) Autonomous positioning accuracy 'is better than one-hundredth of the movement distance when there is no external high-frequency signal. (3) Low cost, low power consumption, and light weight. (4) Unique high-performance Kalman filter. By fusing information from the micro-core IMU (coremocroTM IMU), magnetic heading sensor, odometer, and speed, it removes the inherent drift of the free inertial positioning solution obtained from the low-cost micro-core MU. (5) Smooth the output noise of magnetic sensors, odometers, and speedometers. (6) Innovative state variable selection and Kalman filter (£ & 1111311 F i 11 e r) measurement design, including relative position correction, heading correction, and zero speed correction. (7) Autonomous multi-carrier stop test and related zero speed correction. The carrier does not require zero speed correction, but if the carrier stops itself, the system can autonomously take advantage of this benefit. (8) Advanced IMU is based on MEMS (Micro Electromechanical Systems) and ASIC (Applicaltion Specifec Integrated

m

486576 V. Description of the invention (3) C i r c u i t) Micro core IM U: Miniaturized length, width, height and light weight, high performance and low cost; low power consumption; special improvements in reliability. (9) The map database and software module use the current location solution to obtain the surrounding environment information. (1 0) Display device and software module display user location and surrounding environment # Typical application of the carrier self-carrying positioning method and system of the present invention include gas cars, railway vehicles, miniature land vehicles, robots, unmanned land ^ vehicle dagger army ^ Land vehicles, and underwater carriers. Yet another object of the present invention is to provide a carrier self-contained positioning system and method 'which can be exchanged with other users through wireless communication devices. Changing the carrier location letter Another object of the present invention is to provide a method which can be accessed by using location information The location provides location and surrounding information. The present invention provides a carrier self-carrying on land and water carrier, in which the output of the inertial north finder is processed with high-precision position measurement. A carrier self-contained positioning system and a square map database, with the aid of display mounting methods and systems, especially for measuring devices, speed generators, and 'getting carriers on land and aquatic MEMS technologies have made rapid development of low cost, Light weight, small Ϊ t ί ί Ϊ screw and accelerometer become possible. MEMS are micromechanics and to: Tang or micro integrated electromechanical devices. Deletion device involves MEMS including microelectronics to generate controllable mechanical and moving structures. I and the concept of micromachining integration. The MEMS device is 486576. V. Description of the invention (4) The airbag opens the accelerometer, and the examples are, inkjet print head, micro plastic robot outside the car. < Microelectronic technology, a technology fabricated on silicon. Micromachining uses integrated electrical circuits in the circuit. It is a very mature technology. The size of the process developed by making tiny passers-by on Shixi tablets has reduced several previous actuators. In addition to sensors, traditional military and civilian ϋ = ϊ systems. This-device not only makes it possible to have no small and cheap inertia; and the control system provides a huge map in terms of cost, volume, and navigation of the device / guide, volume, and guilt: according to this The carrier of the preferred implementation of the invention is self-contained: Γ quantity module 1, a north seeker 2, a navigation process, and a speed generator 6, installed on the carrier system. The inertial measurement component 1 is placed on the carrier to measure the motion of the carrier, and generates digital angular increment and velocity increment signals corresponding to the body motion. The north finder 2 is placed on the carrier to generate a heading measurement of the carrier. The speed generator 6 is placed on the carrier 'to generate speed data of the current axis of the carrier system. The navigation processor 3 'is connected to the inertial measurement unit 1, the north seeker 2, and the speed f generator 6 to receive digital angular increment and speed increment signals, the heading i, and the speed data of the current axis of the carrier system. Into a real-time software, perform the following tasks: ”(1) The IMU position obtained from the digital angle increment and speed increment signals, and

Page 8 486576 V. Description of the invention (5) The position measurement obtained from the heading measurement and the speed data of the current axis of the carrier system is compared, and (Π) if the position difference is greater than a predefined scalar, the position difference is fed back to correct I MU position to output the correct IMU position. The applicant of the present invention has invented and developed a MEMS angular velocity sensor and a MEMS IMU, including a microelectromechanical system for measuring angular velocity (MicroElectroMechanical System for Measuring Angular Rate), a processing method for motion measurement (Process Method for Motion Meas urement), Angular Rate Producer with MicroElectroMechanical System Technology, Micro Inertial Measurement Unit, core microTM IMU. The micro-core IMU can be preferentially used in a self-contained positioning system as the inertial measurement device I MU 1. However, the structure is not limited to the application of the micronucleus I Mu. Any jMϋ having such a performance index can be used in the system of the present invention. However, if you use purely traditional inertial navigation methods for MEMS-based I MUs including micro-kernel I MUs, the position drifts so quickly that they are unusable. In the system of the present invention, the micro-kernel IMU serves as the core of the positioning system, and an inertial navigation system INS is built around it. To compensate for INS errors, the system integrates multiple navigation sensors. Northfinder 2 is used to measure the heading of the carrier. The speed generator 6 is preferably selected as an odometer or an anemometer. Odometer is used to measure the relative speed with respect to the ground to get the carrier on land

486576 V. Description of invention (6) · · · · Distance of movement. When the carrier is on water, use a flow meter to measure the water speed to assist the IMS. The zero speed correction method is used to correct INS errors. The preferred north finder 2 may be a magnetic sensor, such as a magnetic flux valve, which is sensitive to the earth's magnetic field to measure the heading angle of the carrier. The speed generator 6 further includes an odometer 61 for measuring the relative connectivity with respect to the ground when the carrier is on land, and a tachymeter 62 for measuring the speed of relative water when the carrier is on water. Referring to the fourth figure, the preferred real-time software running on the navigation processor 3 includes the following modules: (5.1) —INS Judgment Module 31, which generates inertial positioning using digital angular increment and velocity increment signals from iMU1 Measurement; (5 · 2) — magnetic sensor processing module 32 to generate heading angle, (5.3) — odometer processing module 33 to generate relative position error measurement for Kalman filter; (5.4) — flowmeter processing module 34 is used to generate relative position error measurement for the Kalman filter; and Uj) an integrated Kalman filter 35 is used to estimate the inertial positioning measurement error by performing a Kalman filter calculation to correct the bit measurement error. In order to further improve the performance of the carrier self-contained positioning system of the present invention, Ba is further connected to a wireless communication device 4 to exchange the obtained position information with other users. In order to display the position information of the carrier self-contained positioning system of the present invention, a map database 5 and—the display device 7 is further added to the carrier self-contained positioning 486576. 5. Description of the invention (7) ~ 糸 同 'used on the map Display the location of the carrier, and access the map database by using the location to obtain information about the surrounding environment. ° IMU 1 and associated INS calculation module 31 are the core of land and water navigators. The IN S differentiating module 31 further includes a sensor compensation module 3 11 to correct the errors of the digital angular increment and velocity increment signals, and an inertial navigation algorithm module 322 to calculate the INS position, velocity, and attitude. The fifth figure shows the inertial navigation algorithm module 322. Although INS provides an autonomous, radiation-free, deterministic, three-dimensional navigation means, short-term accurate position information. Due to the uncompensated gyro and accelerometer errors, especially the low-precision strapdown I NS system, it shows unbounded Position error. External auxiliary information must be provided to improve the long-term accuracy of the system. Multiple navigation sensors are used in the present invention to assist the core INS. Flux valve assists for heading updates. The odometer's flow meter, and zero speed correction are used to suppress the increase in the I N S error. Based on the established INS error model and other device error models, a combined Kalman filter is constructed to estimate and compensate the INS error and the sensor error. The combined system of the present invention is used to determine the user's location on land and water. As shown in the third figure, the block diagram of the carrier's self-contained positioning system of the present invention. One of the key technologies is to apply the automatic zero speed correction technology to the system algorithm, which greatly reduces the accumulated navigation error. The inertial navigation system I NS is a position estimation system, and its position error increases with time in the pattern shown in the first figure A. Zero speed correction technology uses additional zero speed information to reset the speed measurement of the guide when the user stops. The periodic zero speed correction reset results in an error pattern as shown in the first figure β. Time-of-flight correction With zero speed correction and compensation, inertial guide and flowmeter assisted, the extended navigation error mode is greatly reduced from the second difference. It is a portable pumping method, as shown in the dotted line in FIG. The carrier self-flow and drift of the present invention maintains' Yu :, upper navigation period @, which effectively compensates for water. The sixth figure is the navigation accuracy of the square cover knife-moving distance. 3; Use the sensor to detect the magnetic field of the earth and the processing module L information to obtain magnetic north. Degrees and directions, and convert them to electricity in order to ^ strong 洚 -k and magnetic north 'Earth's magnetic field survey c / q 1 丨 π ΛΑ d soft iron and hard iron transformation matrix to supplement the magnetic field The body's ferrous metal goes through, again and again, 'misleading the readings of the magnetic compass.

Some magnetic fields: JC soft iron twisted. Soft iron can be misleading or magnified. Correction is particularly difficult. U The seventh picture depicts the use of the Θ Gan Lao synchronizer to measure good "ί processing module 33. The odometer uses a signal!;: Electric signal. Demodulate this-signal, low = sign. The analog confidence machine for the distance increment in a sampling period. The number is further converted into a digital signal for navigation calculation. The measured distance increment is a representation system, not a navigation coordinate system. The flowmeter signal and its processing module 34 are used. The flowmeter's analog k number is used. A low-pass filter is used to suppress noise and used as a second aliasing effect filter. An AD converter is used to convert The tachometer signal is converted from and to be converted into a digital signal and input to the processing computer.

486 ^ 76 —----- V. Description of the invention (9) No. 2 is connected to break the cascade to obtain the incremental distance signal. The module-first conventional module 31 further includes a sensor compensation algorithm 322 for navigation. The installation of the vertical screw and the accelerometer is not exactly in the three must be added to each other. Before the inertial navigation algorithm module 322, the data speed; the current EMSIMU is a low-precision micromechanical stone gyro with the addition == The sensor is very sensitive to temperature and acceleration. A special module is constructed in the design of the sensor compensation module. The simplified error model of the EMES gyro is expressed as ... ^ misaiign ^ no scaie ^ Sg This MEMS I MU error compensation model is explained below. (1) Stability error ~, seven is also expressed as drift. The time constant is large for gyro stability errors, and this effect is modeled as a constant zero bias. (2) Misalignment error: Misalignment error is the deviation between the actual direction of the sensitive axis of the device and the specified direction of the axis. This is a constant angle error, which is usually made small by accurate assembly and correction techniques during installation. (3) Non-vertical error ^. This error refers to the inaccuracy of the * MEMS IMU itself. The 1 MU consists of three micro-gyros, which should be installed in three ideal axes that are perpendicular to each other. When the input axis of a gyro tilts

486576 Fifth, the invention description (ίο) __ To the two gyroscopes by its w 4 straight error. When the non-vertical gyro is connected to the + plane, a non-vertical component is generated. Ί, about the angular velocity (4) scale coefficient error of the other two Z axes. — The percentage of the true angular rate is used to detect the difference in speed. The MEMS gyroscope detects the velocity amplitude, which produces a measurement with a straight 2 degree coefficient error in the measured angular scale coefficient error at a large angular rate. Two plugs = angular rate. Proportional error. ⑸ Gravity-sensitive error t Gyro stemming Λ navigation error. The output change caused by the action is called gravity sensing, which is caused by the two accelerations in the body movement of the device, which is proportional to the specific force. This error is the acceleration due to inertia minus the acceleration due to gravity. "Ratio bias error. The specific force is equal to Tongzhong (6), which is an integrator that outputs Λθ ί with Λ. The actual sensor generates a smoother signal based on the voice in the output of the knife gyro. Γ = random walk within the error range. Angular random walk is estimated by the complement process. Temperature-sensitive error ^ ⑺ MEMS gyroscopes are very sensitive to temperature changes. ^ Dagger can even be regarded as a good temperature sensor. The method in INS must remove errors due to temperature. Therefore, in INU error processing, we must provide a temperature term, which can generate error data according to temperature changes in the same operation. Similarly, the error compensation of the MEM accelerometer is expressed as:

V. Description of Invention (11)

The definition of the accelerometer error term is similar to the MEM gyroscope. In practice, the change in IMU temperature can be approximated by a first-order micro-eight

I r 丄 r (r D D 丨 t〇T (0) = Ί〇 where T represents the temperature of I MU, TO is the initial temperature tc is the time constant, and ba 1 is the equilibrium temperature of ΙΜ. The parameters tc and Tbal are determined by the IMU. It is determined by the heat transfer characteristics and ambient temperature, which can be obtained by calibration. The error caused by temperature can be expressed ^ where Tnom is the nominal temperature when correcting the IMU and Kt is the temperature error coefficient. The second figure shows a typical temperature-induced MEMS IMU Gyro error. Referring to the fifth figure, the inertial navigation algorithm module 32 2 further includes: (1) an attitude integration module 31 2 1 for integrating angle increments into attitude data; (2) —speed integration module 3 1 2 2 By using attitude data, the measured speed is increased to a suitable navigation coordinate system, where the converted speed

Page 15 486576 V. Description of the invention (12) Degree increments are integrated into speed data; and (3) — Position module 3 1 2 3 is used for integration, and the speed data of the navigation system is position data. Referring to the sixth figure, the magnetic sensor processing module 32 for processing the heading angle further includes: (1) a hard iron compensation module 321 for receiving a digital earth magnetic field vector and compensating for the hard iron effect in the earth magnetic field vector; (2) The soft iron compensation module 3 2 2 ′ is used to compensate the soft iron effect in the earth's magnetic field vector. (3) —A course calculation module 322 is used to receive the compensated earth magnetic field vector, and the pitch and horizontal directions are received from the inertial navigation algorithm module 322. Roll angle and calculate heading data. Referring to the seventh figure, the odometer processing module 3 3 for generating a relative position error measurement for the Kalman filter further includes: (1) a conversion module 331 'to convert the input odometer speed of the on-board system to the Odometer speed in the navigation coordinate system; (2) — scale factor and misalignment error compensation module 332 to compensate for scale factor and misalignment errors in the odometer speed; and (3) — relative position calculation module 333, used Based on receiving the IMU speed and attitude and grievance data and the compensated odometer speed, the Kalman filter 35 is used to form a relative position measurement. Referring to the eighth figure, the flow meter processing module 3 4 for the relative position error measurement produced by the Kalman filter includes: (1) a transformation module 3 41 for transforming the input representation of the on-machine system

Page 16 486576 V. Description of the invention (13) The speedometer speed is the odometer speed in the navigation coordinate system; (2) — scale factor and misalignment error compensation module 342, which is used to compensate the scale coefficient of the speedometer A And misalignment error; and (3) — a relative position calculation module 343 for receiving the IMU speed and attitude data and the compensated tachymeter speed to form a relative position measurement for the Kalman filter 35. The relative position calculation module 343 is the same as the relative position calculation module 333. Referring to the fourth and sixth figures, the Kalman filter module 35 further includes: (1) a motion test module 3 51 to determine whether the carrier stops automatically;

(2) a measurement and time-varying matrix forming module 352 for forming a measurement and a time-varying matrix for the state estimation module 3 53 according to the motion state of the carrier from the motion measurement module 351; and (3) — a state estimation module 3 5 3, used to filter measurements and obtain the best estimate of IMU position error. In order to obtain an optimal estimate of the I MU position, it is necessary to establish a rainbow error state equation for the Kalman filter. The relationship between the p platform determined with reference to the ideal system and the PC platform determined with the actual system is defined as

Where I is the unit moment. [φ] 1 丨 is the anti-angular matrix of the vector φ.

Page 17 486576 V. Description of the invention (14) 0-Φ: ° Φχ ~ φχ 〇 The vector Φ 丨 is determined by the reference line. Between platform C ::; = platform and actual system if the gyroscope and accelerometer model are expressed as fc -fb -hVb pr a > And accelerometer error. The display error is expressed in the machine system or sensor system, and it is the sensor error. In this way, the generalized linear INS error model, with a first-order approximation, can be expressed by the following equation:

dFx (X) dX 1 >] Corpse call ^ AGP '• 〇

I

Page 18 486576 V. Description of the invention (15)

-〆- [彡] < + ^^ (Χ) _ΔZ P dX

f? -Clfb: vp ^ cpbvb ερ ^ Cphsb: This generalized INS error model can be used to derive specific error models for different system structures. In the preferred implementation of the state estimation module 3 5 3, two filters are established:

(1) a horizontal filter to obtain an estimate of the horizontal IMU position error; and (2) a vertical chirper to obtain an estimate of the vertical position error.

Page 19 486576 V. Description of the invention (16) ~: 'Horizontal; The preferred state vector of the wave filter state vector contains the following variables 1 · A, the position error on the X axis (rad) The preferred state vector of the vertical filter contains the following Variables: 1 · Ael height error (FT) 2. Δνζ speed error (F / s) 3 · ~ relative position error (FT) 4.: accelerometer bias (F / s2) 5 · Δθν; odometer / current meter Vertical deflection angle (rad) 2. About the Y-axis position error (rad). 3. x speed error (F / s) 4. Μ y speed error (F / s) 5. φχ: X tilt error (rad) 6 · Φγ Y tilt error (rad) 7. Heading error (rad) 8 · △ XR relative position error (FT) about X 9 · ΔΥκ relative position error (FT) about Y 10 · X gyro bias error (R / s) 11. Y gyro bias error (R / s) 12. Z gyro bias error (R / s) 13. Δθ1 Odometer / Tachymeter horizontal deflection angle (rad) 14 · △ SF 'Odometer / Tachymeter Scale factor error

On land, the state estimation module 3 5 3 receives the following external information from time to time: (1) Known position changes, obtained from the odometer processing module 3 3 ·

5. Description of the invention (17) (2) Position change equal to zero 'is obtained from the zero speed correction process of the motion test module 3 5 丨; and (3) Known heading is obtained from the magnetic sensor processing module 32. On the water ^ " The estimation module 3 5 3 receives the following external information from time to time: (1) known position changes, obtained from the tachometer processing module; (2) position changes equal to zero, zero from the motion test module 3 5 1 The speed correction is obtained; and (3) the known heading is obtained from the magnetic sensor processing module.] Range: The difference between the speed J / speed meter speed and the IMU speed is quickly integrated into the three components of the relative position. : The update interval of a Kalman filter is eight seconds, and the X-phase perpendicularity g 1 ^ and z-relative position is provided to the straight card. The wave filter is then updated and corrected. IMU bit motion = test module 351 determines whether the carrier Has been stopped. If the change is applied to the Kalman waver. The definition of the stop is made by: period :: analysis of the movement to determine the correction under 睥. The carrier is in the next eight ^ ^ and D positions. When motion is detected, it is immediately reset to τ and is set 侔 丨 l · 妯 罟 > ^ I ^ The set position may be less than eight seconds. For example, Wu motion test Module 351 contains: ⑴An odometer change test module for pure odometer reading, / υ ^ 'Explanation ^ ^ ~ Τ'-~ _ to determine whether the carrier is stopped or restarted; (2)-System speed change test mode = up The change in system speed to determine whether the carrier is the second heart. From the pre-defined value, the speed progress line :: US block is used to compare the amplitude of the system speed with the movement; the value of $ is compared to determine whether the carrier is Stop or restart; right to determine whether the carrier stopped or restarted mileage: L in the odometer test, at the beginning of the specified eight-second interval, the reading is accumulated as usual. If the accumulated value is stopped at eight seconds, it is reset. In advance, the value of 疋, such as two pulses, f. In the soil speed test, each X, Y, and Z position changes within the specified second of each pre-specified fish seconds are determined. Any 2 s = 超过 in any axis exceeds a predefined value, such as oi F / s, the eight-second interval is defined as non-stop. Note that a speed of 0 · i F / s 2 s corresponds to 0.2 The allowable attitude disturbance of F is about 2 inches ... in the system In the speed test, if we assume a 10FS system speed error amplitude, we can use this criterion: compare the average x, Y, Z speed with the speed of the previous 2 seconds every 2 seconds, reset and stop if any speed is in the amplitude More than 10FS.

Page 22 486576 V. Description of the invention (19) On a tracked carrier, there is only one odometer and near the 1Mu meter, the carrier may provide a way to lock this track for the Han Zai mileage. The odometer has no output and the IMU speed is very small. This situation can be detected by posture test. The set stop condition is that the total attitude change is less than one degree in any 2 seconds and ^ change =. Within 8 £ within each Kalman filter update interval, for example, eight seconds, the relative position measurement of Y and z is sent to the Kalman filter for one measurement ^ 'Variance of variance = [Η] [P] [HT] + R It is estimated variance of this measurement ~ new. The standard is used to test the reasonableness of the measured amplitude. There are three such axes. Mother Tuning The preferred IMU 1 is a small IMU with a built-in L processor. This position and attitude processor can replace the above-mentioned INS calculation block " 31. The small INU is described below. An inertial measurement component is usually used to measure the motion parameters of the carrier. In principle, the inertial measurement component relies on three orthogonally mounted inertial angular rate generators and three orthogonally mounted acceleration generators to obtain triaxial angular rate and degree signals. Three orthogonally mounted inertial angular rate generators and three orthogonally mounted acceleration generators along with corresponding support structures and electronics are traditionally referred to as inertial measurement components. Traditional inertial measurement components can be platform inertial measurement stages and strapdown inertial measurement components. In the platform type inertial measurement module, the angular rate generator and the acceleration generator are installed on a stable platform. The attitude measurement of the carrier can be obtained directly from the flat 2 structure. However, the attitude angular rate measurement of the carrier cannot be directly obtained from the flat α. Moreover, there must be corresponding

Compared with page 23, the strapdown inertial measurement component generator is directly connected to the carrier, and the angular velocity output signal is expressed in the carrier coordinate system. The signal can be obtained through a series of calculations. Different types of angular rate generators and generators include iron. Rotor gyroscope and light, dynamic tuning gyroscope, ring laser Joseph PS gyroscope, and hemispheric resonance include pulse integral pendulum acceleration number processing method, mechanical structure, electric gyroscope and accelerometer. The large volume, large power consumption, and complex feedback control loop in order to obtain the power to tune the gyroscope and accelerometer need to maintain the zero position again. Usually in the sex-based measurement group, the inertial measurement component using the pulse modulation system has the following 486576 V. Description of the invention (20) High-precision feedback control loop. It is the same as the platform-type inertial measurement 4 component. The output of the angular rate generator and acceleration rate generator and acceleration rate generator. The attitude and angular velocity of the carrier are obtained. Traditional inertial measurement components use acceleration generators. Traditional angular rate gyros, for example, liquid floating integral gyro gyro 'fiber optic gyro, electrostatic gyro, gyro and so on. Traditional angular rate generator leaves, pendulum gyro accelerometers, etc. The signal circuit of the conventional inertial measurement module has movable parts depending on the kind used in the conventional gyro and accelerometer, so it is required to have stable motion measurement. For example, a dynamic rebalance circuit is used to rebalance the inertia of a moving part, a dynamic gyro and an accelerometer. Therefore, it is usually transmitted Features: High cost Large size (volume, weight) Large power consumption

Page 24 486576 ———-_ V. Description of the invention (21) Short life time Start-up time This inconvenience of the traditional inertial measurement red pieces is used in some emerging commercial banks. They should be as well as some handheld devices. ‘(Mic: rc) el • Bay sensor technology is emerging. The use of micro-electro-mechanical systems to control the system can greatly improve: Shidian system can be simply called micro-mechanics. MEMS is recognized as the next logical step. This step is different and more important than integrating more transistors on silicon j. In the next 30 years, the essence of this revolution is to introduce a new revolution in the structure of silicon, so that silicon can not only think, but also be sensitive, perform actions, and communicate. Various MEMS angular rate sensors have been developed to meet the demand for low-cost, reliable and reliable angular rate sensors, with applications ranging from automobiles to consumer electronics. Single-axis MEMS angular rate sensors are based on line-spectrum vibration principles, such as tuning forks, or structural modal resonance principles, such as vibrating rings. A more advanced 'multi-axis MEMS angular rate sensor can be based on the angular resonance principle of a rotating rigid rotor suspended by a tension spring. Most of the existing angular velocity sensors are based on electrostatically driven tuning tuning fork methods. Most MEMS accelerometers are of the force feedback type and use closed-loop capacitive sensing: inductive and electrostatic force-applying methods. For example, the company ’s accelerometer is a typical one. It has a single silicon structure, including a tension pendulum and its capacitive signal readout device.

Page 25 / 〇 V. Description of the invention (22) The accelerometer uses on-chip precision voltage reference, force feedback loop, and self-testing and torque device. The model cries you γ η wc approves the collection of 15 companies' MEMS BIMOS process production master + m 扪 integrated multi-layer silicon structure, 1§, local oscillator, access to the enemy, demodulator circuit. Although small size, low power, and MEMS angular rate sensors are available from the commercial market, the size of the low power and low power consumption, and the low power and low speed acceleration acceleration juice, but there is no high performance, small : Rate 4. Consumption inertial measurement component. At present, MEMS devices make use of the underlying structure of microelectronic circuits. 2. Complex machinery with rulers. Machines can have many functions, including sensitive micro communication, communication, and execution. These MEMS devices can be widely used in various systems.糸 糸

The difficulty of making small inertial measurement components is to use low-cost, angular angular rate sensors and accelerometers to manufacture [^ 1], the 11 ^ 11 has a low cost μ 'small size, low power consumption, no damage period / long use Immediate life-span characteristics, large dynamic range, high sensitivity, high stability, and high accuracy. In order to achieve the above-mentioned high performance, many difficulties need to be solved, such as: (1) A tiny angular rate sensor and accelerometer can be obtained. Currently

Page 26 486576 V. Description of the invention (23) The smallest angular rate sensor and accelerometer are the angular rate sensor and accelerometer. (2) The corresponding mechanical structure needs to be designed. (3) Design the corresponding electronic circuit. (4) Meet the corresponding thermal design requirements in order to compensate the thermal effects of the MEMS sensor. (5) The size and power consumption of the corresponding electronic circuit should be greatly reduced. The IMU of the present invention preferably uses an angular rate generator and an acceleration generator, for example, a MEMS angular rate device array or a gyro array in order to generate a triaxial angular rate signal of a carrier; a MEMS acceleration generator array or an accelerometer array in order to generate Three-axis acceleration signal of the carrier. The motion measurements of the carrier, such as attitude and heading angle, are obtained by processing the three-axis angular rate signal from the angular rate generator and the three-axis acceleration signal from the acceleration generator. In the present invention, 'the output signals of the angular rate generator and the acceleration generator are processed to obtain a high-precision digital signal of the carrier angle increment and the speed increment', and further processed to obtain a high-precision position, speed, Attitude and heading measurements. As shown in Figure 11, the small inertial measurement component of this patent includes an angular rate generator 'to generate three-axis (X, Y' Z sleeve) angular rate signals; an acceleration generator clO to generate three-axis (X, Υ , Z axis) acceleration signal; one-angle increment and speed increment generator C6 is used to convert the three-axis angular rate signal into a digital angular increment and the three-axis acceleration signal into a digital ^ degree increment. Further, a position and attitude processor c80 is included in this patent.

V. Description of the invention (24) ^ ~ " ~~~ — ^ — In the $ -type inertial measurement component, it uses three-axis digital angle increments and three-axis digital speed increments to calculate position, velocity, attitude, and heading measurements. In order to provide rich motion measurement to meet the needs of different users. The position and attitude processor c8〇 further includes two optional execution modules: (1) attitude and heading module C 8 1 for generating attitude and heading angle; (2) position, speed, attitude and heading module c 8 2, used to generate hatred, speed and attitude angle. Selecting the Attitude and Heading Module c 8 1 enables the small inertial measurement unit to have an Attitude Heading Reference System (ARHS) function. Selecting the execution position, speed, attitude and heading module c 8 2 enables the small inertial measurement unit to have an Inertial Navigation System (INS) ’function.

Generally, the angular rate generator c5 and the acceleration generator (: 10 are very sensitive to changes in the ambient temperature. To improve the measurement accuracy of the South, as shown in Figure 12, the present invention further includes a thermal control device to convert the angular rate generator c 5, the working temperature of the acceleration generator clO and the angular and speed increment generator c6 is maintained at the set value. It is worth pointing out that if the angular rate generator, the acceleration generator 10 and the angular increment and speed increment The generator C6 operates at a temperature and in a fixed environment, and the thermal control device may not be used. X According to a preferred solution of the small inertial measurement module of the present invention shown in FIG. 12, the thermal control device further includes a thermal Sensitive generator cl 5, a heater c20 and a thermal processor c30. Thermal sensitive generator c 15 and angular rate generator 05, acceleration generator

Page 28 486576 V. Description of the invention (25) * 'cl0 and the angular increment and velocity increment generator work in parallel to generate the temperature signal,' so that the angular rate generator 5, the acceleration generator cl (f The working temperature of the X and X angle increment and speed increment generator c6 is maintained at the set value. The set temperature is a constant value and can be selected between 15 (TF and 185 ° F, preferably 丨 ° 76 ° F (± 〇 · 1 卞). The temperature signal from the thermal sensitive generator c 1 5 is output to the thermal processor c30, which is used by the thermal processor C30. The temperature signal, temperature scale factor, angular rate generator 5 and acceleration generator ci〇 And the predetermined operating temperature of the angular increment and speed increment generator c6 to calculate the temperature control command and turn on the corresponding driving signal to the heater C20 to control the heater c20 to generate enough heat to keep the angular rate generated Generator 5 and acceleration generator (10 and the predetermined operating temperature of the angular and speed increment generator c6. The temperature characteristic parameters of the angular rate generator c5 and the acceleration generator cl0 'can pass through a series of angular rates Generator and acceleration generator Degree characteristic parameter calibration process is obtained. As shown in the thirteenth figure, when there is no thermal processor c30 and heater core ^, in order to compensate the measurement error of the angular rate generator and the acceleration generator due to the ambient temperature change, the present invention The small inertial measurement component may include a temperature digitizer cl8, which is used to receive the temperature signal generated by the thermal sensitive generator cl5, and output the digital temperature signal to the position, speed, attitude and heading module c82. As shown in the twenty-second figure, the The temperature digitizer cl8 may preferably be an analog-to-digital converter C182. Further, the position, velocity, attitude, and heading module C82 uses an angular rate generator from the temperature digitizer cl8 and an acceleration output ^ cl () of 4i86576. Description of the invention (26) 'Current operating temperature, query the angular rate generator C5 and acceleration output. The temperature characteristic parameters of the output cl 0, compensate the thermal effect error in the input digital angular increment and digital speed increment, and use the compensated Digital angle increment and digital speed increment calculate attitude and heading angle. In most applications, angular rate generator The output signal of the acceleration generator clO is an analog voltage signal. The three-axis angular rate analog voltage signal generated by the angular rate generator "is directly proportional to the angular rate of the carrier. The three-axis acceleration simulation generated by the acceleration generator cl 〇 The voltage signal is directly proportional to the acceleration of the carrier. When the analog voltage signals output by the angular rate generator c5 and the acceleration generator ci〇 are too weak, so that the angular increment and velocity increment generator c6 cannot be read, such as the fifteenth As shown in the figure and the sixteenth figure, the angular increment and velocity increment generator c6 can use amplifier devices (: 66 and C665 to amplify the analog voltage signals output by the angular rate generator c5 and the acceleration generator cl0, and Squeeze the noise. As shown in the fourteenth figure, the angle increment and speed increment generator c6 further includes an angle integrator c62 0, an acceleration integrator ⑸ ", and a resetter c 6 4 0 'angle increment and speed increment measuring device c. 6 μ. The angle integrator c 6 2 0 and the acceleration integrator c 6 3 〇 are used to integrate the three-axis angular rate analog voltage signal and the three-axis acceleration module in a predetermined period of time. The pseudo-voltage signal is used to accumulate the three-axis angle. The rate analog voltage signal and the three-axis plus degree analog voltage signal form an uncompensated original angular increment and velocity increase. This integration operation is to eliminate the three-axis angular rate analog voltage signal and the two-axis acceleration analog electric signal. Is not directly proportional to the carrier angular rate and 486576. I. Description of the invention (27) Acceleration noise signal, analog voltage signal and triaxial sound. The signals in these triaxial angular rate modulus signals are directly proportional to the angular complex of the reset device. Scale speed integrator c63 0 as angle and speed. Angle increment and speed increment and speed reset voltage pulse, ## and three-axis acceleration analog degree increment count value, corresponding to Output the actual angle and speed increment voltage value. The output measuring device c650 will increase the angle increment and the speed increment. The angle integrator c620 rates the analog voltage signal and three axes so that every predetermined time is as shown in the sixteenth figure. The reset timing pulse is used as the angle pulse. In some applications, an integrated circuit (ASIC) and as shown in Figure 17 are used to simulate the high signal-to-noise ratio of the three-axis acceleration and eliminate the analog voltage in the three-axis acceleration. The high-frequency noise in the signal, the pseudo-voltage signal and the three-axis acceleration analog voltage on the carrier angular rate and acceleration. The bit voltage pulse and the speed reset voltage pulse are output to the angle integrator c62〇 and the adder c6 50 respectively. Reset the voltage pulse to measure the accumulated three-axis angular rate analog voltage voltage signal to obtain the angular increment count value and velocity as digital quantities of angular increment and velocity increment. Increment and velocity increment as additional output angular increments One option is to convert the angular increment and velocity increment and the velocity increment voltage values into actual ^ and acceleration integrator C630. The voltage signals are reset separately, and the starting point of the interval is accumulated from zero. The device c640 can be an oscillator c66, which produces reset voltage pulses and speed reset voltage pulse oscillator c66 made of specific circuits, such as a dedicated printed circuit board. Measuring the angular increment and velocity increment of the two-axis angular rate analog voltage signal pressure h accumulated by 1

Page 31 486576 V. Description of the invention (28) c 6 50 0 can be realized by an analog / digital converter c 6 50. Said another way, the analog / digital converter c 6 50 actually digitizes the original angular and speed increment voltage values into digital quantities of angular and speed increments. As in the seventeenth figure and the second figure, the amplifiers c66 0 and C6 65 of the angular increment and velocity increment generator c6 can be implemented by a corner amplifying circuit "丨 and an acceleration amplifying circuit c67. The angle amplifying circuit c61 and The acceleration amplifier circuit c67 amplifies the biaxial angular rate analog voltage signal and the triaxial acceleration analog voltage signal, respectively, to form an amplified triaxial angular rate analog voltage signal and a triaxial acceleration analog voltage signal. The angular increment and velocity increment generator C6 The analog / digital converter c65〇 further includes a corner analog / digital converter c63, a speed analog / digital converter c69, and an input / output interface circuit c65. The accumulated angular increment from the angle integration circuit c 62 and the acceleration The accumulated speed increment of the integrating circuit c68 is output to the angle analog / digital converter c63 and the speed analog / digital converter c69, respectively. The accumulated angle increment is performed by the angle analog / digital converter c63 by using the angle reset voltage Signal to measure the accumulated angular increment to form the angular increment count value as a form of digital angular increment voltage. This angular increment count value is input It is output to the input / output interface circuit c65 so as to form a digital three-axis angular incremental voltage value. The accumulated speed increment is measured by the speed analog / digital converter c63 by using the speed reset voltage signal to measure the accumulated speed increment in order to form Speed increment count value as a form of digital speed increment voltage. This speed increment count value is output to the input / output interface circuit c 6 5 so as to form a number

Page 32 / υ V. Description of the invention (29) A '-——---- A three-axis speed incremental voltage value. As shown in the twelfth and eighteenth diagrams, the thermal generator cl5 outputted with a mold is shown in FIG. 18, and it is realized by a feedback control circuit with an analog voltage input. In the eighteenth figure shown in Figure 18, the thermal processor c3〇 includes an analog / digital converter 3 (1 ,,,,,,, etc.), which is connected to cl5. , The digital car analog converter c303 connected to the booster c2〇 and the analog / digital converter c304 and digital / analog converter | § c 3 0 3丨 cry ^ q η β. / Phoenix diameter controller c30 6. The input of the analog / digital converter C304 is generated by the thermal sensitive generator cl5-temperature and voltage signal, and the temperature / voltage is sampled by the analog /> digital converter c304 Signal and digitize the voltage H ′ and output the digital temperature signal to the temperature controller c 3 0 6 value controller c 3 0 6, using the number f temperature voltage signal from the analog / digital converter c 3 04, The temperature calibration coefficient and the predetermined operating temperature of the above-mentioned angular rate generator and acceleration generator are used to calculate a digital temperature control instruction, and the digital temperature control instruction is sent to a digital / analog converter c30 3 〇digital / analog converter c3 〇3 will come from the above digital temperature controller = 30 6 The temperature control command is converted into an analog signal, and the analog signal is output to a heater c20, so as to generate appropriate heat to ensure the predetermined operating temperature of the IM ϋ of the present invention. Further, as shown in the nineteenth figure, if the The voltage signal generated by the induction generator (: 15 is too weak to allow the analog / digital converter c3 04 to read

Page 33 486576 V. Description of the invention (30):---- In addition, the heat treatment c30 further includes a connection to a thermal generator. The first amplifier circuit c3101 between 15 and the digital / analog converter C303. In this way, the voltage signal is obtained from the thermal sensor generator cl5, which is rotated to the first amplifier circuit C301 to amplify, and the noise in the voltage signal is suppressed. To improve the signal-to-noise ratio, the amplified voltage signal is input to the analog / digital converter c304. In general, the heater c20 requires a special drive current signal. In this case, as in the tenth figure, the heat treatment (^ 3 () further includes a second connection between the digital / analog converter c303 and the heater C20. Amplifier circuit c3 02. The first amplifier circuit c3 02 amplifies the input analog signal from the digital / analog converter c3 03 to the heater c 3 0 2. In other words, the digital / analog converter c3 03 is controlled by the temperature The digital temperature command from the controller C30 6 is converted into an analog signal, which is input to the amplifier circuit c30 2. As shown in Figure 21, sometimes an input / output interface circuit c305 is required to convert the analog-to-digital converter C304 and The digital converter c303 is connected to the temperature controller c306. In this case, as shown in the second figure, the above-mentioned voltage signal is sampled by the analog / digital converter c304, and the sampling number is then `` digitized '' The digital signal is output to the input / output interface circuit c3 0 5 · As described above, the 'temperature controller c 3 〇6' uses the digital temperature voltage signal from the analog / digital converter c3 04, and the temperature calibration coefficient And the predetermined operating temperature of the above-mentioned angular rate generator and acceleration generator to calculate a digital temperature control instruction and output the digital temperature control instruction to the input / output interface circuit c3 0 5. The digital / analog converter C303 will come from the input / Output connection

Page 34 486576 V. Kwai Ming's description (31). The digital temperature control instruction of the port circuit c305 is converted into an analog signal, and the analog signal is output to a heater c2 0, so as to generate appropriate heat to ensure the IMU of the present invention Predetermined operating temperature. 'As shown in the twenty-second figure, as mentioned above, on the other hand, the twelfth figure, the eighteenth figure, the nineteenth figure, the twenty-first figure, the heat treatment c30 and the heater c2 0 are available. An analog / digital converter cl82 is connected to the thermal generator C15 to realize 'in order to receive a voltage signal from the thermal generator ci5. If the voltage signal generated by the thermal generator c 1 5 is too weak to be read by the analog / digital converter cl82, as shown in Figure 23, an additional amplifier circuit cl81 can be connected to the thermal generator. Ci5 and analog / digital converter c 1 8 2 0 in order to amplify the signal, compress the noise in the signal, improve the signal-to-noise ratio, and the amplified signal is sent to the analog / digital converter cl82 ° through the analog / The digitizer cl82 samples the input signal, digitizes the amplified signal into a digital signal, and outputs the digital signal to the attitude heading processor c80. On the other hand, an input / output interface circuit cl 83 may be connected between the analog / digital converter cl 82 and the attitude heading processor c80. In this way, as in the eleventh and twenty-fourth drawings, the input amplified signal is sampled by the analog / digital converter cl82, and the signal is digitized into a digital signal, which is output before being input to the attitude heading processor c80. Digital signals are provided to the input / output interface circuit cl83. As shown in the eleventh figure, the digital three-axis angular incremental voltage value or real value and three-axis digital speed are generated and output by the angular increment and speed increment generator C6. Incremental voltage value or true value.

486576 V. Description of the invention (32) '-— In order to adapt to the digital three-axis incremental voltage value and digital three-axis speed incremental voltage value from the angle increment and speed increment generator, as shown in FIG. 25, the secondary state = The processor c81 contains a cone error compensation module c8u, in which the digital triaxial angular incremental voltage from the input / output circuit c 6 5 of the angular incremental and velocity incremental generator is insufficient at a high rate (short cycle). The value, and the coarse velocity angular rate offset from the calibration process of the velocity and acceleration generator, are input to the cone error compensation module C811. In this cone error compensation module, the two-axis angular incremental voltage value and the coarse angular velocity offset input above are used to calculate the cone effect error, and the three-axis cone effect error and the long period three are output at a lower rate (long period). Shaft angle incremental voltage value. The female heading processor c81 further includes an angular rate compensation module C812 and an alignment rotation vector calculation module c815. Among them, the above-mentioned conical effect error and three-axis long period angular incremental voltage value from the above-mentioned circle, error compensation module c811, and the angular rate from the above-mentioned angular rate and acceleration generator calibration process. Device female < misalignment angle Parameter 'fine angular rate offset error term, angular rate generator scale factor, cone correction scale factor, input to the above-mentioned angular rate compensation module c8 1 2 in order to use the input cone effect error, angular rate generator misalignment angle , The precise angular rate offset error term and the positive correction factor of the round cone to compensate the input three-axis long-period angular incremental voltage value 'using the scale factor of the angular rate generator above to compensate for the two-axis long period after the above compensation The angular incremental lightning pressure value is converted into an actual three-axis long-period angular increment I value 'and the above-mentioned actual three-axis long-period angular increment value is output to an alignment rotation vector calculation module C815. The attitude course processor c8 1 further includes an acceleration compensation module

Page 36 486576 V. Description of the invention (33) — " " '" ~' C813 and horizontal leveling speed calculation module C814. Among them, the three-axis speed increase of the input / output circuit c 6 5 of the angular increment and speed increment generator C 6 ^ voltage value, and the installation of the acceleration device from the angular rate generator and the acceleration range calibration device described above are inaccurate. Angle, acceleration bias error, scale factor of the acceleration device, input to an acceleration compensation module c8 丨 3, and use the 2-speed device scale factor to convert the input three-axis speed increment voltage value to the actual two-axis speed increment value , Use the input accelerometer installation misalignment and acceleration offset error terms to compensate for the deterministic errors in the above three-axis speed increments, and output the compensated three-axis speed increments to a horizontal leveling speedometer tube block c814—. ^ In the alignment rotation vector calculation module c815, the three-axis angular increment from the above-mentioned angular rate compensation module C812, the eastward damping angular increment from an eastbound damping calculation module c8110, and the northbound damping calculation module c8i9 # are used. Northbound damping angle increment. A vertical damping calculation module updates a quaternion at a vertical damping angular rate of 19. The quaternion is a vector representing the rotation of the carrier. The quaternion after the update It is sent to a one-way cosine-Chen calculation module c816 to calculate the one-way cosine matrix using the updated quaternion. This direction cosine Chen is output to a horizontal acceleration calculation module MM and; mi angle extraction module cm to calculate the attitude and heading angle using the square cosine matrix from the direction cosine Chen calculation difference module C816. Hibiscus replacement η: The three-axis speed increment is output to the horizontal leveling speed calculation. Uranium, step ^ change den. ^ Also, use the three and three years A from the above-mentioned acceleration compensation module c814. The cosine moment calculation module c81 from the above direction. 6 directions

Page 37 486576 V. Description of the invention (34) Cosine Chen calculates the water horizontal velocity c8 11〇, where the northward horizontal velocity horizontal velocity c819, whose t, increases toward the horizontal velocity from the above angle and from a given vertical damping velocity increment. The flat speed increase and increment are inputted, which are used to increase the g, and the metered increments are inputted to calculate the modulus using attitude and external sensing rate. The different eastward damping angular rate increments to the above-mentioned eastward damping rate calculation module c 8 丨 4. To the east-side damping rate calculation module mentioned above, the north-south damping angular rate increase amount of the horizontal acceleration calculation module c 814 mentioned above. The measured heading angle calculated by the heading unit c 9 0 calculated by the direction angle extraction module c 817 is input to the block c8 1 8 in order to calculate the vertical damping angular rate eastward damping angular rate increment, the Λ damping angular rate increment, and the vertical damping. The rate increment is fed back to the above-mentioned alignment rotation vector calculation module c 815 to dampen the drift of attitude and heading angle errors. In order to adapt to the digital three-axis angular increase from the angular and speed increment generator c6, the real value and the digital three-axis speed increase actual value, as shown in the twenty-fifth figure, south of the rate (short cycle) Enter the three-axis angular increment value from the angular increment and velocity increment generator, and the coarse angular velocity offset from the calibration process of the angular rate and acceleration generator, to a cone error compensation module c81 ^, in this circle In the miscellaneous error compensation module, the conical effect error is calculated by using the input three-axis angular increase and the coarse angular velocity offset, and the above-mentioned three-axis conical effect error and long-period three-axis angular increase are output at a lower rate (long period). The value is given to an angular rate compensation module C812. The above-mentioned cone effect error sum from the above-mentioned cone error compensation module c811

V. Description of the invention (35) · The incremental value of the periodic angle and the angular rate and acceleration from the above-mentioned angular rate generator installation misalignment angle parameters, the precise angular rate deviation error term, and the cone correction scale The coefficient is input to the above-mentioned angular rate complement module C812, which uses the input cone effect error, the $ install misalignment angle of the angular rate generator, the precise angular rate offset error term, and the circular cone positive scale system to compensate the above input. The three-axis long-period angular increment value, and output the above-mentioned actual two-axis long-period angular increment value to an alignment rotation vector calculation module c 81 5 〇, from the angular increment and speed increment generator c6 The three-axis speed increment, ^ and the misalignment angle and acceleration offset error of the accelerometer 2 from the above-mentioned angular rate generator and acceleration generation calibration process are input to an acceleration compensation module c8 13 and installed using the input accelerometer. Misalignment angular acceleration deviation = error term, to compensate for the deterministic error in the above-mentioned three-axis speed increment, and output the three-axis speed increment after compensation to a horizontal leveling speed calculation module c8 1 4 〇 The next module calculates the attitude and heading angle by using the ^ increment value after the ^ compensation from the angular rate compensation module and the three-axis speed increment from the acceleration compensation module c813. For the above processing modules, these subsequent processing modules are the same as those described previously. ^ If the temperature compensation method is used, in order to adapt to the digital triaxial angular incremental voltage value and digital triaxial velocity increasing voltage value from the angular increment and speed increase generator c6, as shown in Figures 13 and 25 Show. Input the digital triaxial angular increment voltage value from the angular increment and velocity increment generator at high rate (short cycle), and from the calibration process of angular velocity and acceleration generator

486576 V. Description of the invention (36) ^ ^ coarse velocity angular rate offset, to a cone error compensation module c8 1 1 In this cone error compensation module, the three-axis angular incremental voltage value and coarse angular velocity entered above are used The offset calculation of the cone effect error is performed at a lower rate (long period) to output the above-mentioned three-axis cone effect error and the long-period three-axis angular incremental voltage value to an angular rate compensation module C812. The angular term of the incremental electrical process of the cone error angle is described. The angular velocity input and output scale coefficients and the angular rate produce the current temperature cone effect. The error term is set to the long term angle to compensate the above three-axis data. The above-mentioned cone efficiency sub-value of c 8 11 and the calibration coefficient of the angular rate parameter generator from the above-mentioned angular rate generator installation misalignment coefficient, and the digital temperature signal of the cone calibration interface circuit c 1 8 3 are inputted into the above angular rate compensation student. Current temperature of the generator; use the calculation to find the temperature error of the angular rate generator, the installation of the angular rate generator, and the positive calibration coefficient of the circular calibration cone to increase the voltage value; use the three-axis long period angular increase after the above angular speed compensation For the period angle increment value, among the angular rate axis long period angle increment values, the above-mentioned actual three-axis long period angle increment module c815 is used. The calibration rate bias error numbers from the upper three-axis long period generator and c 81 2 from the sensor are used to calculate the rate coefficients of the three-axis scale coefficients of the input of the precise angular rate offset input into the actual temperature characteristics. The misalignment caused by the angular increment and speed boost value from the rotation, as well as the above-mentioned angular velocity ^ Accuracy installation angle of the acceleration device, the error and the acceleration, the fine angular velocity positive scale number and the temperature module Angular velocity data; Misalignment angle, to compensate for the above-mentioned rate generator, the amount of temperature change of the thunder pressure value generator, the value of the three-axis speed increment generator of the amount generator c6, and the acceleration generation calibration acceleration acceleration error, acceleration Device

Page 40 486576 V. The scale factor of the invention description (37), the digital temperature signal from the input and output interface circuit c 183, and the scale factor of the temperature sensor are input to an acceleration compensation module c 8 1 3, and calculated The current temperature of the acceleration generator; use the calculated current temperature of the acceleration generator to find the temperature characteristic data of the acceleration generator; use the acceleration device scale factor to convert the input three-axis speed increment voltage value into the actual three-axis speed increase Measured value; use the input accelerometer installation misalignment, angular acceleration offset error term to compensate for the deterministic error in the above-mentioned three-axis speed increment, and use the temperature characteristic data of the acceleration generator to compensate for the three-axis long-period speed increment value Due to the error caused by the temperature change, the three-axis speed increment after compensation is output to a horizontal leveling speed calculation module c814. ~ The following modules use the angular increment value after compensation from the angular rate compensation module c8l2 and the three-axis speed increment from the acceleration compensation module C8l 3 to calculate the attitude and heading angle. For the above processing modules, these subsequent processing modules are the same as those described previously. If the temperature compensation method is used, in order to adapt to the digital triaxial angular increment actual value and digital triaxial velocity actual value from the angular increment and velocity increment generator c6, as shown in the thirteenth figure, the twentieth figure, and the twentieth The heading processor c81 shown in the figure 5 can be further modified to turn in the angular three-axis angular increment value from the angular increment and velocity increment generator 06 at a high rate (short cycle), and from the angular rate The coarse angular rate offset of the calibration process with the acceleration generator is to a cone error compensation module c811. In this cone error compensation module, the three-axis angular increment value and the coarse angular velocity offset entered above are used to calculate the cone effect error. , Output the above triaxial cone at a lower rate (long period)

486576 V. Description of the invention (38) Give an angular rate compensation module effect error and long-period three-axis angular increment value c812. The above-mentioned cone effect error and three-axis long period angle increment value from the above-mentioned cone error compensation module c81l, as well as the angular rate generator installation misalignment angle parameters from the above-mentioned angular rate and acceleration generator calibration process, and the precise angular rate offset error Term, cone correction scale factor, and from the wheel out interface circuit. The digital temperature signal of 183 and the scale factor of the temperature sensor are input to the above-mentioned angular rate compensation module C802 to calculate the current temperature of the angular rate generator; use the calculated current temperature of the angular rate generator to find the angular rate generator. Temperature characteristic data; use the input cone effect error, angular rate generator installation misalignment angle, fine angular rate offset error term, and circular calibration cone positive scale coefficient to compensate the three-axis long period angle increment value input above; The temperature characteristic data of the angular rate generator is used to compensate the error caused by the temperature change in the three-axis long-period angular increment value, and the actual three-axis long-period angular increment value is output to an alignment rotation vector calculation module. c815. Three-axis speed increment from the input / output circuit c 6 5 and the installation misalignment angle, acceleration bias error, and digital temperature from the input-output interface circuit C183 from the angular rate generator and acceleration generation calibration process described above The scale coefficients of the signal and temperature sensor are input to the acceleration compensation module C813 to calculate the current temperature of the acceleration generator; use the calculated current temperature of the acceleration generator to find the temperature characteristic data of the plus generator; use the input accelerometer Install =

Acceleration bias error term to compensate for the deterministic error in the above-mentioned three-axis continuity increment; use the temperature characteristic data of the acceleration generator to compensate the three-axis long-cycle speed

V. Description of the invention (39), the error caused by temperature change in the increase value is output to the triaxial speed increment after compensation to a horizontal leveling speed calculation module c8U. The next module uses the compensated angular increment value from the angular rate compensation module c812 and the three-axis speed increment from the acceleration compensation module c8 丨 3 to calculate the attitude and heading angle. For the above processing modules, these subsequent processing modules are the same as those described previously. One. As shown in the twenty-fifth figure, the position velocity and attitude processing module c82 includes: a cone error compensation module c8201, which is the same as the cone error compensation module C811 of the attitude and orientation processor c81. An angular rate compensation module C8202, which is the same as the angular rate compensation module c812 of the attitude heading processor. The second alignment rotation vector calculation module C820 5 is the same as the angular rate compensation module c815 of the attitude heading processor c81. The ^ direction cosine Chen calculation module c8206 is the same as the angular rate compensation module c816 of the attitude heading processor c81. An acceleration compensation module c8203, which is the same as the acceleration compensation module c813 of the attitude heading processor c81. ★ Horizontal leveling speed calculation module c820 4 is the same as the horizontal leveling speed calculation module c8U at the attitude heading. ♦ State and heading angle extraction module C820 9, which is similar to the attitude and heading angle extraction module c8 1 7 of attitude heading ^ C.

Set the speed update module c8208, which receives the leveling speed calculation module C8204 to calculate the position and speed. Ten plus earth and carrier fan rate calculation module c8 2 07, this module receives the position

Page 43 V. Description of the invention (40) is the position and speed of the speed update module c 82 08, calculate the rotation angular rate of the carrier from the navigation coordinate system to the inertial coordinate system, and input the rotation angular rate to the rotation vector calculation module c82 〇5. In order to meet the requirements of different application systems, such as Figures 21 and 24, according to the format required by external users, such as RS-232 application communication standard 'RS-422 application communication standard, pC msA bus standard, The 1 553 bus standard 'assembles digital triaxial angle incremental voltage signals, digital triaxial speed incremental voltage signals, and digital temperature signals in the input / output interface circuit c65 and the input / output interface circuit c305. In order to meet the requirements of different application systems, refer to Figures 11, 21 and 24. According to the format required by external users, such as RS-232 application communication standard, rS-422 application communication standard, PCI / ISA bus standard '1 53 53 bus standard, in the input / output interface circuit C65 and the wheel in / output interface circuit c 305, a digital triaxial angular incremental voltage signal, a digital triaxial speed incremental voltage signal, and Digital temperature signal. As mentioned above, one of the key technologies of the present invention to achieve a small IMU is to use a micro angular rate generator. Among them, the micro angular rate generator using MEMS technology and the corresponding mechanical structure and circuit board layout are shown below. One of the key technologies invented to achieve small I MEMS is to design a low-power], type circuit 'where' the traditional AS 1C technology can be used to reduce complex circuits to one stone. The existing panning technology used to make tiny angular rate generators uses vibrating inertial masses to sense the angular velocity of the carrier through the Creoles effect. The Creoles effect is the working principle of general vibration type angular rate sensors.

Page 44 486576 V. Description of the invention (41) * ':--a-; --a ~-. The Creoles effect can be interpreted as, when the π M: Mod b angle flux rate is applied to a translational and vibrating t-behavioral negative gage block, the gram: rate applied to and vibrating Indignation is clear; pure inspection = pure force. When a corner speed received the Creoles force. The Creoles force = is is: VI. Life a produces 7-port sensing is-axis to be measured. At proportional to the applied angular velocity. Further, the angular rate may be Geithau 5s or acceleration is named after the French physicist and mathematician, II Clioris (1792-1843). In 1 835, he and Rioris forces were used to rotate the earth during trajectory calculations. Rioris acceleration acted on objects moving at a fixed angular velocity and radially around a point. The basic equation of the Creoles force can be expressed as * ^ Coriolis ~ m ^ CorioUs = X ^ Oscillation) where 'house CW & is the detected Creoles force; it is the mass of the inertial mass block; ~ —is The generated Creoles acceleration; ^ is the input angular velocity; is the oscillation speed of the inertial mass. _ The generated Creoles acceleration is proportional to the mass of the inertial mass, the input angular velocity, and the oscillation speed of the inertial mass. product. Inertial mass

486576 V. Description of the invention (42): The direction of the vibration velocity of one-to-one is orthogonal to the direction of the input angular velocity. <-The main problems of the vibration type rate generator are poor accuracy, sensitivity and stability. Unlike the MEMS acceleration generator, which is a passive device, the micromechanical vibration-type angular rate generator is an active sensor. Therefore, corresponding high-performance circuits and controls should be invented in order to more effectively use the existing micro-mechanical vibration-type angular rate generators to achieve high-performance angular rate measurements to meet the needs of small IMUs. ^. therefore. In order to obtain the angular rate sensitive signal of the vibration type angular rate detection unit, the vibration driving signal must first be fed into the vibration type angular rate detection unit =, so as to drive the vibration of the inertial mass and maintain the constant mass of the inertial mass. The quality of the vibration drive signal is key to the overall performance of a MEMS angular rate. Figure 27 and Figure 28 respectively show the perspective structure s of the mechanical structure and circuit board layout of the small inertial measurement module shown in Figure 11 as shown in Figure 11. The small inertial measurement component includes a first circuit board c2 and a second circuit ^^ control circuit board c9 arranged in a metal regular hexahedron cl. #Circuit board ", the second circuit board. 7 and = a circuit board" is connected to the third circuit board c7, and generates X-axis J "and γ-axis acceleration-sensitive signals to the control circuit board c9. The first circuit board c4 and The third circuit board c7 is connected, and the output signal and the X-axis acceleration sensitive signal are sent to the control circuit board c9 axis angular rate breaking sense. The third circuit board c7 is connected to the control circuit board c9, and the sensitive signal and the Z-axis acceleration sensitive signal are sent to the control circuit The board ^ axis angular rate control circuit board c9 passes through the third circuit board. The first circuit board c2 and the first

Page 46 Don't 576 V. Description of the invention (43). — —- A circuit board C4 is connected to process the first, second, and third c ^ x, γ, and z axes from the first circuit board, the second circuit board 2, and the third circuit board. Angular rate sensitive signals and $, γ, z = acceleration sensitive signals in order to generate digital angular increment, velocity gain, position, velocity, attitude and heading measurements. As shown in Figure 29, the small inertial measurement of the present invention The angular rate generator c5 of the preferred embodiment of the module includes: a y-axis vibration type angular rate detection unit c "connected to the first circuit board" "and a first front-end circuit c23; a y-axis vibration type connected to the second circuit board c4 The angular rate detection unit C41 and the second front-end circuit are: ^; the two-axis vibration-type angular rate detection unit c7l and the third front-end circuit C73 connected to the third circuit board c7; three angular signal loop circuits c921, which are respectively The first circuit board: the thunder circuit board c4 and the third circuit board 7 are provided, which are included in the 831 (: chip 092) connected to the control circuit board 09; the three vibration control circuits c922, which are the first Circuit board Thunder Second circuit board c4, first The circuit board e7 is provided and is included in the ASIC chip c92 on the connected circuit board c9. The oscillator C92 5 is used for the X-axis vibration type angular rate detection unit C21, the n-angle rate detection unit e41, and the z-axis vibration type angular rate. Test single test capture, horn signal circuit C921 and vibration control circuit C922 provide reference

The three vibration processing modules c921, the circuit board c4, and the third circuit board C7 are provided as the first circuit board c2, and the second circuit board ′ runs on the control circuit board.

/ 〇 5. Description of the invention (44) ~~ ~ --- In the DSP (digital signal processor) chipset c91 on c9. C73 terminal circuit ⑵; two front-end circuits ⑷ and third front-end circuits 2: The structure is the same ′ is used to organize the output signals of the χ, γ, and ζ-axis vibration-type angular velocity detection units. Each front-end circuit includes: ^ impedance conversion amplifier circuits c231, c431, and c73i, connected respectively; corresponding X, Y, and z-axis vibration-type angular rate detection units c21, c4l, and the impedance used to change the vibration motion signal High level, greater than megaohms, converted to low impedance, less than 1000 ohms, in order to obtain two cold motion f signals, which is the cross voltage 仏 sign representing the displacement between the inertial mass and the anchor comb. Two vibration displacement signals are input to vibration control c922; one pass filter circuit c232, c432 and 0732 are connected to

Corresponding X, γ, and z-axis vibration-type angular rate detection units c2] [, c41 & cn, to remove residual vibration drive signals and noise from the vibration displacement differential signal to form a filtered vibration displacement differential signal to the angular signal Circuit c921. X, γ, and z-axis vibration-type angular rate detection units c2i, c41 &c7; l, except that their sensitive axes are arranged orthogonally, are structurally identical. The χ-axis vibration type angular rate detection unit C2l is used to detect the angular rate of the carrier along the X axis, the γ-axis vibration type angular rate detection unit "丨 is used to detect the angular rate of the carrier along the γ-axis, and the Z-axis vibration type angular rate detection unit c21 Used to detect the angular velocity of the carrier along the Z axis °

X, Y, Z axis vibration type angular rate detection units c 21 v c 41 and c 71 are all vibration type devices, including at least one set of vibrating inertial mass, including tuning

Page 48 486576 V. Description of the invention (45) 1 and the corresponding supporting structures and devices, such as capacitive signal readout devices, and use the Creoles effect to detect the angular rate of Ziri. Each X, Y, and Z-axis vibration-type angular rate detection units c2i, c21, and c71 receive the following signals ... (1) A vibration drive signal from a vibration control circuit c 9 2 2 in order to maintain the vibration of the inertial mass; (2) ) Carrier reference oscillation signal from vibrator C925, including capacitor readout excitation signal. The X, Y, and z-axis vibration-type angular rate detection units c2i, c41, and c71 use the kinetics (Clioris force) to detect the X, γ, and Z axis angular rates of the carrier, and output the following signals: Miscellaneous θ) caused by The signal includes the angular rate displacement signal modulated on the carrier reference oscillation signal, and this signal is output to the high-pass filter circuits c232, c432, and #i of the inertia mass block of the first, second, and third front-end circuits C2 3, C43, and C73. Vibration signals, including vibration displacement signals, discard the second, second, and third front-end circuits C23, C43, and C73. Impedance conversion amplifying Is circuits c231, c431 &c731; The fixed control circuit c922 receives signals from X and Y, respectively. , Z-axis vibration lit m ^ ^ 2 \ 'C41 ^ ° 71 ^ ^ t * ^ ^ ^ t and the reference pickup signal from the oscillator C925, to generate a displacement signal of the phase-based gaussian mass. It is proposed to change the vibration displacement signals of the inertial mass blocks from the X, Y, and Z-axis vibration-type angular rate detection units C21, c41, and C7i into easy-to-handle V. Explanation of the invention (46) '-------- The vibration displacement signal contained in _____ from the momentary c922, as shown in Figure 34, the vibration control circuit defines an amplifier and an adder circuit c 9221, connected to the first, second, and month; end circuits c23, C43, The impedance conversion amplifier circuit of C73, and c731 'amplify the two vibration displacement signals by more than ten times. With ancient sensitivity, the two vibration displacements are combined by subtracting the signal of the center anchor comb and the signal of the side anchor comb. Signal to form a vibration displacement differential signal; ^ a high-pass filter circuit C9222, connected to the amplifier and the amplifier "c9221", in order to remove the residual vibration and differential signals from the vibration displacement differential signal and generate filtering A differential signal after the vibration displacement; a demodulator circuit C9223, connected to the high-pass filter circuit c9222 'to receive the capacitor detection excitation signal from the oscillator C92 5 as a phase reference signal, and connected from the high-pass filter C9222 The filtered vibration displacement differential signal is received, and the in-phase portion of the filtered vibration displacement differential signal is extracted to generate a displacement signal of an inertial mass of a known phase. A low-pass filter c9225 is connected to the demodulator circuit. C9223, to remove high-frequency noise from the input inertial mass block displacement signal to form a low-frequency inertial mass block displacement signal; an analog / digital converter c9224 connected to a low-pass filter c 9 2 2 5 to convert the analog low frequency The inertial mass block displacement signal is converted into a digital low-frequency inertial mass block displacement signal and output to the vibration processing module c912; a digital-to-analog converter c9226 processes the signal amplitude selected from the vibration processing module c 9 1 2 so that Forming a

486576 V. Description of the invention (47) Vibration driving signal. Each amplifier c9227 'generates and amplifies vibration drive signals for the X, Y, and Z-axis vibration-type angular rate detection units C2i, C4i, and c71 based on vibration drive signals of the correct frequency and amplitude. X-, Y-, and Z-axis vibration-type angular rate detection units c2i, c41, and c71. The vibration of the ten-shell cymbals is driven by a high-frequency sinusoidal signal with a precise amplitude. The high-performance vibration drive signals of the rate detection units c2i, c4i, and c71 play a very important role in the sensitivity and stability of the angular rate measurement values of the χ, γ, and z axes. The vibration processing module c9 1 2 receives a digitized low-frequency inertial mass shift signal of known phase from the analog / digital converter C9224 of the vibration control circuit "22 to facilitate:

(1) search for the frequency with the southernmost quality factor (Q) value; (2) lock the frequency; at a rate of c2 1 degrees (3) lock the amplitude 'to generate a vibration drive signal, including a sinusoidal signal with a precise amplitude and frequency X, Y, Z axis vibration type angular rate detection unit, c41 & c71, so that the inertial mass is vibrated at a predetermined resonance frequency, and the vibration processing module c912 searches for and locks the X, Y, z axis vibration type angular read rate detection unit C21 , C41 and c71 inertial masses 沾, 洚 m J | shell 1 shell 1 vibration frequency and amplitude. Therefore, the digitized low-frequency inertial mass block displacement is expressed as a fast Fourier transform on the frequency spectrum. Break first by discrete

The f-scattered fast Fourier transform is an effective algorithm for computing the discrete Fourier transform. It greatly reduces the external b ^ J < Discrete Fuli

Page 51 V. Explanation of the invention (48) ^ ---- The Angstrom transform is used to approximate the discrete ΔΔ shape of the Changli Angstrom transform (the Grad Transform or the spectrum cover is a continuous signal discrete signal XUT) The discrete Fourier transform of N samples is given by: V-1

Xs (kd) = ^ x (nT) e'JQiTnk where

• · 1πΊ NT ^ v ^ j, where T is the inner sampling time interval. The essence of the FFT is ^ / knife waves of different frequencies superimposed together. After the displacement signal of the low-frequency inertial mass block is expressed on the frequency spectrum by discrete fast richness, Q analysis is applied to the frequency spectrum in order to determine the frequency of the global maximum Q value. Locking the frequency of the large Q values of the χ, γ, and ζ axes can reduce the power consumption, which is the most important factor. The Q value is a function of the basic geometry of the inertial mass ^ ~ a excitation mode environmental conditions. In addition, material characteristics and a phase-locked loop and digital-to-analog converter are used to control and stabilize the frequency and amplitude of chirp. The gas sixteen diagram, vibration 'processing module c912 is near—the steps include a distance from 0 ^ 121 // f (FaSt F〇Urier TranSf〇 ^ 21, a frequency and amplitude data storage array module c9122, a value detection logic module c91 23 and A Q value analysis and selection logic module c91 24 to find the frequency with the largest q value. Discrete Fast Fourier Transfor'in (FFT) module C9121 converts the analog-to-digital converter C9224 from the vibration motion control circuit c922 Digitized low-frequency inertial mass block displacement signal in order to form the amplitude data on the frequency amplitude of the input inertial mass block displacement signal. The frequency and amplitude data storage array module c91 23 receives the amplitude and spectrum data to form an amplitude and spectrum. Data array. The maximum value detection logic module c 9 1 2 3 divides the spectrum of the spectrum data array from the amplitude and spectrum data array into some spectrum segments, and selects the frequency with the largest amplitude from the local spectrum segment. Q value analysis And selection logic module ⑼] ^ ', perform Q value analysis on the selected frequency, and calculate the ratio between the amplitude and the bandwidth Select the frequency and amplitude. The frequency band used for calculation is between plus and minus one-half of the maximum value of each maximum frequency point. Further, the vibration processing module C912 includes a phase-locked loop c9125, which is used as a very narrow bandpass. Filter to exclude the noise of the selected frequency and generate and lock the vibration drive signal of the selected frequency. Three angle signal loop circuits c921 receive X, Y, and Z axis vibration type 486576. 5. Description of the invention (50) Angular rate detection The signals caused by the angular rate of the units c21, c41, and c71, and the reference pickup signal from the oscillator c925, convert the signals caused by the angular rate into angular rate signals. As shown in FIG. 33, the first circuit board c2, the second circuit board c4 Each corner signal loop circuit c921 of the third circuit board C7 includes: a voltage amplifier circuit C9211 for amplifying high-pass filter circuits (: 232 from the corresponding first, second, and third front-end circuits c23, c43, and c73) Post-angular rate-induced signal to a level of at least 1,000 millivolts to form an amplified angular rate-induced signal; an amplifier and adder circuit c9 212, for extracting the difference of the amplified angular rate number to generate a differential angular rate signal;

A demodulator c9213, connected to the amplifier and adder circuit C9212, is used to read the excitation signal from the differential angular rate signal and the capacitor from the oscillator 0925 to extract the amplitude of the in-phase differential angular rate signal; a low The pass filter C9213 is connected to the demodulator C9213, and is used to remove the high frequency noise of the amplitude signal of the in-phase differential angular rate signal to form an angular rate signal and output it to the angular increment and velocity increment generator C6. As shown in Figure 27, Figure 28, and Figure 29, the acceleration generator c 1 of the preferred solution of the small inertial measurement module of the present invention ci includes:

An X-axis accelerometer c42, which is located on the second circuit board C4 and connected to the angular increment and speed increment generator C6 of the AS 1C chip c92 in the control circuit board c9; a Y-axis accelerometer c22, which is located at the first An angular increment and velocity increment generator C6 on a circuit board C2 and the AS 1C chip c92 in the control circuit board c9

Page 54 4 ^ 6576 V. Description of the invention (51) Connected; a Z-axis accelerometer C72, which is located on the third circuit board c7 and the angular increment and speed increment of the ASIC chip c92 in the control circuit board c 9 The generator c 6 is connected. As shown in FIG. 12, FIG. 28, and FIG. 29, the heat-sensitive generator c 1 5 of the preferred embodiment of the small inertial measurement module of the present invention further includes: a first heat-sensitive generating unit c 25, To sensitive the temperature of the X-axis vibration-type angular rate detection unit c 2 1 and the Y-axis accelerometer c 2 2; the second heat-sensitive generating unit c 44 is used to sense the Y-axis vibration-type angular rate detection unit c 41 and the X-axis acceleration Measure the temperature of c 7 2; The third heat-sensitive generating unit C74 is used to sense the temperature of the Z-axis vibration-type angular rate detection unit c71 and the Z-axis accelerometer c72; as shown in Figures 12 and 29, the present invention The preferred heater C20 of the small-scale inertial measurement component further includes: a first heater c25, which is connected to the X-axis vibration-type angular rate detection unit c21, the Y-axis accelerometer C22, and the first front-end circuit (23, and is connected with To maintain the predetermined operating temperature of the X-axis vibration-type angular rate detection unit C21, the gamma-axis accelerometer c22, and the first front-end circuit c23; the second heater c45, which is connected to the Y-axis vibration-type angular rate detection unit cU, the X-axis Accelerometer C42 and second front-end circuit Maintaining a predetermined operating temperature γ-axis vibration-type angular rate detecting unit c41, χ axis accelerometer c42 and c43 of the second end of the circuit; third heater c75, it is the Z axis vibration-type angular rate detecting unit

486576 Five 'invention description (52);-c71' Z-axis accelerometer C72 and third front-end circuit 〇73 are connected, use 4 to maintain z-axis vibration type angular rate detection unit c71, z-axis accelerometer c72 and ^ The predetermined operating temperature of the front-end circuit c73. As shown in the twelfth, twenty-eighth, twenty-ninth, thirty-first, and thirty-fifth figures, the thermal processor c30 of the preferred solution of the small inertial measurement module of the present invention further includes three Thermal control circuit c923 and thermal control calculation module c91 i running on DSP chipset C91. Each thermal control circuit C923 further includes: a first amplifier circuit C9231, which is connected to the corresponding X, γ, and z-axis heat-sensitive generating units c24, c44, and c74, and is used to amplify the heat from the corresponding X, Y, and Z-axis heat-sensitive Generate the signals of units c24, c44 and c74 and compress the noise in them to improve the signal-to-noise ratio; an analog / digital converter c9232 is connected to the amplifier circuit c 9 2 3 1 and is used to sample the temperature voltage signal and the sampled temperature The voltage signal is digitized into a digital signal and output to the thermal control calculation module c 9 丨 i; a digital-to-analog converter C9233 is used to convert the digital temperature command from the thermal control calculation module c911 into an analog signal; the second amplifier circuit c 9234 It is used to receive and amplify the analog signal from the digital-to-analog converter c9233, so as to drive the corresponding first, second and third heaters c25, c45, c75 and the closed temperature control loop. The thermal control calculation module C91 1 uses the digital temperature voltage signal from the analog / digital converter c9233, the temperature calibration coefficient, and the predetermined operating temperature of the above-mentioned angular rate generator and acceleration generator to calculate a digital temperature command, and the digital temperature The instruction is sent to a digital / analog converter c923.3.

Page 56 486576 V. Description of the invention (53) — ~ 'a ~-~-In order to obtain-a high-performance, full-function, small-sized steel, the first circuit board of the preferred solution of the? J j test module of the present invention c2, a special packaging method for the two circuit boards C 7 and the control circuit board C 9 described in the second circuit C is as follows, as shown in the twenty-seventh figure, the resin of the small inertial measurement module of the twentieth invention, and the third circuit board C7 is glued The first circuit board c2, the first row, and the third circuit board C7 are bonded to the base resin. As shown in Figures 8 and 29, in this preferred solution, a conductive epoxy-based support structure is used, 'using a non-conductive epoxy circuit board c4 and a control circuit board c9. In other words, in this way, The first circuit board c2, the second circuit board c4, and the control circuit board c9 are bonded to the third circuit board c7, and the third circuit board c7 is used as the internal connection board. Therefore, the need for internal connection wires can be avoided in order to reduce the size . The first circuit board c2, the second circuit board c4, the control circuit board c9, and the third circuit board C7 are assembled into a circle in a common ground manner, so that the conductive epoxy tree and the support structure can form a continuous ground electrode. . This reduces electronic noise levels and thermal gradients. In addition, this assembly method can also reduce the variation of IMU misalignment angle caused by structural deformation caused by acceleration. Referring to the third figure, according to a preferred implementation of the present invention, the carrier self-contained processing method includes the following steps: (a) using an inertial measurement unit 1 to generate a digital angular increment and a velocity increment corresponding to the carrier motion by sensitive user motion, (b) using a Norther 2, such as a magnetic sensor, sensitive to the Earth's magnetic field to measure the heading angle of the carrier,

Page 57, 0 吣 76 5. Description of the invention (54) ~~ —— '' ~ ---- ~ (C) Use a speed generator to measure the relative speed of the carrier relative to the carrier surface of the moving wheel. And, /, (d) Use the digital angle increment and speed increment signals, the heading angle, and the user's relative speed with respect to the transport surface to obtain the number of positions in the combination processor. In step (c), the speed generator 6 is When the transportation surface is on the ground, it is ten miles. When the transportation surface is on the water surface, it is a tachometer. 'Step (d) further includes the following steps: (d · 1) Calculate inertial position measurement using digital angular increment and speed increment signals; (d · 2) Calculate heading angle using geomagnetic field measurement;

. (D · 3) Using the relative speed of the user relative to the ground to generate a relative position error measurement for the Kalman filter in the odometer processing module; / d · 4) Using the relative speed of the user with respect to the water surface to be Karl'man The filter generates a relative position error measurement in the flowmeter processing module; (say d.5) Kalman filter calculation method is used to estimate the inertial positioning measurement error to correct the inertial positioning measurement. In order to improve the performance, the method for self-contained positioning of the carrier of the present invention further includes a first additional processing step to exchange the obtained position information with other users through a wireless communication device. In order to display the location information, the self-carrying positioning method of the carrier of the present invention further includes a second additional processing step, displaying the location of the carrier on the map, and accessing the map database by using the location L information to display the surrounding environment information.

Page 58 486576 V. Description of the invention (55) • In principle, step (d · 1) can be referred to as inertial navigation system processing. Inertial navigation is a process that calculates the position by the integral velocity and calculates the velocity by the integral acceleration. The total acceleration is obtained by calculating the sum of gravitational acceleration and non-gravitational acceleration. In modern INS, attitude reference is provided by a software integration function in the INS computer that utilizes inputs from a set of three-axis inertial angular rate sensors. The three-axis angular rate sensor and accelerometer are installed in the same rigid structure in the I NS chassis, and each rigid sensor is accurately aligned. This arrangement is called strapdown inertial navigation system, because the inertial sensor is fixed to the chassis, that is, fixed to the carrier on which the INS is installed. The main function executed in the INS ^ calculation module 31 is: turning the angular rate into a posture, called a posture integral; using the posture data to change the measured acceleration 3 to an appropriate navigation coordinate system, in which the acceleration is integrated For the second, ΐ is the speed integration; the speed of the integrated navigation system is the position, which is called position—1μ & sample 'involves two integration functions, attitude, speed, and position. 'The calculation error is negligible. Therefore, step (du further includes the following steps: processing; d · 1 · 1) The integral angle increment is the attitude data, which is called the attitude integral. Ϋ | (Hj) uses the attitude data to transform the measured speed increment to one ( d · 1 · 3) Speed data of integral navigation system is position data, and is called position

In the system, the integral of the speed increment after the transformation is called speed integration processing; and 486,576 V. Invention · Ming (56) Integration processing.

In INS, a mathematical or virtual system is introduced, which simulates the motion of a flat platform ', so it is called platform season K. The speed of the ball is not in this mathematical platform system. The speed integral equation of the strap-down inertial navigation system written as a compact vector formula can be expressed as follows, where V is the velocity of the carrier relative to the earth, and is expressed in the ρ system. The cadaver table is not the specific force in the P system, or the accelerometer output converted to the math platform system.疋 represents the acceleration of gravity in the P system. ^^ is the angular velocity of the mathematical platform system relative to the Earth system that is not in the P system. η. Is the rotation rate of the earth in the p system. In order to obtain the velocity equation determined by INS, we must first define the motion of the mathematical platform system. The P system in the strapdown INS is a horizontal platform, so its position relative to the local geographic system N can be described by a heading angle α. The angular velocity of the platform system relative to the inertial system can be expressed as: κ ^ ωηρ ^ CPQn \ n ie j

Page 60 486576 V. Description of the invention (57) Where is the speed? The angular velocity of the system relative to the N system. Is the direction cosine array of the P system relative to the N system < is the angular range of the local geographic coordinate system N system relative to the E system of the earth system: Since the P system is a mathematical platform, we can define its motion. Based on the above equation, we can obtain an earthwork describing the relative motion of the p-system. We will obtain two: to guide different INS mechanical arrangements. Analogous to the framed INS, we let # obtain a so-called freedom and let < = Qsin 'obtain a so-called tour system which completely defines the movement of the mathematical platform. We are free

Page 61 486576 V. Description of the invention (58) For the azimuth system for travelling: ＋ K + h x Once the P-series motion is defined, we have a certain strapdown INS velocity equation. Further, we can obtain a second-order, nonlinear, time-varying 'ordinary differential equation as the INS velocity equation. In the form of geographic latitude and longitude, the position integral equation of INS can be written as:

Bu ”= —. I of 4 — of + / z (v: sGu + vyC〇sa)! Νηχ 1 watt = ^ 7 / 〇c— ('cos.- | The pole is a singularity. The calculation of longitude in the polar region will become difficult. In practice, if navigation or simulation of the polar region is needed, we can introduce other position representation variables. For example, we use the N system relative to the center of the earth. The direction cosine array of the Earth's ECEF system is used as the position variable. In this way, the position equation is expressed as:

486576 V. Description of the invention (59) C; -KJC; This is a matrix differential equation. Where [& | is an antisymmetric matrix corresponding to the vector < I. This differential equation has no singularities, and from C :; we can calculate the position expressed as longitude and training. However, in this equation, C: has nine elements and only three degrees of freedom. Therefore, in the calculation, a normalization procedure is needed to maintain the normalization of C7. That is, in each integration step, modify d to satisfy C: C: T: I \ 'If we consider the INS velocity equation as a non-linear, time-varying system, the specific force and the acceleration of gravity in the P system G〃; can be seen as an input to the system. If the gravity anomaly is ignored, the acceleration of gravity can be expressed as where g is normal gravity, which is expressed as

P.63 486576 V. Description of the invention (60) S = < §〇 [! ~ A + Bsm2 φ] 'where A = l + f + m B = 2.2 · 5-f F = oblate equator of the reference ellipsoid Gravity m = O ^ b / Qd \ 1 jh = height M = earth mass G = specific force of the gravitational constant in the P system, corpse 7, is the actual accelerometer output transformed into the mathematical platform system: where the wide is the accelerometer output Vector or specific force is expressed in I MU or machine architecture. In order to perform this transformation, the directional cosine array G must be known. That is, the attitude of the IMU system must be obtained. In strapdown INS, attitude is obtained through high-speed calculations. It was through attitude calculations and coordinate transformations that a mathematical platform was established. In the realization of strapdown I NS, attitude calculation is the most important

Page 64, Description of Invention (61) In principle, there are many kinds of attitudes. For example, the Euclid number can be used to represent a rigid body and so on. In practice, the directional string bee, quaternion, Euler parameter is calculated to represent the attitude of the order. The ten-car and four-unit numbers are most commonly used for analysis and written as: expressed to the cosine array, the attitude differential equation can be a matrix differential equation called matrix, which is determined by the following equation ° [%] corresponds to the opposition of the vector which % 疋 The output of the gyro in iMU or the angular velocity of the IMU relative to the inertial space on the IMU itself. This attitude equation on 豸 糸 is a first-order, nonlinear, time-varying ordinary differential equation. In this equation, ‘ς: there are nine elements and only three degrees of freedom. So it's different: a formalization process is required to maintain the standardization. That is, in every ~ integration step, modify c;, k which satisfies

Page 65 486576 V. Description of the invention (62) Quaternion representation is often used for attitude calculations because of its simplicity and efficiency. The quaternion attitude equation is expressed as: • 1 ′ -A 2 1 (0λ i 2 where; I is the quaternion of the column matrix representation, and ω is the 4 X 4 matrix determined by the angular velocity

Page 66 486576 V. Description of the invention (63) ‘degrees of freedom. The quaternion component is therefore constrained by the following relationship: · t ί + / 1 ^ 2 + name + name = 1, and a quaternion that satisfies this relationship is called a normalized quaternion. Normalization of quaternions is simple in the pose equation ^ integral. The relationship between the quaternion and the direction cosine matrix is expressed as follows:-乂 2 cbp: one ^ Λ) Λ person again. To represent the INS model in compact form, we introduce a vector definition as: X = a φ λ

V

a φ • again

In this way, the calculation model of I NS can be written as

Page 67 486576 V. Description of the invention (64) cpbfb 〇 +

Gp Ο

AW = [< κ

2 ① i-Cbpcofp As shown in the ninth figure, step (d. 5) further includes: (d · 5 · 1) Perform a motion test to determine whether the carrier is stopped in order to start zero speed correction; (d. 5. 2) according to Form the measurement and time-varying matrix from the motion state of the carrier in the i-motion measurement step; and (d. 5.3) obtain the optimal estimate of the IMU position error through the Kalman filter.

The ninth figure shows a preferred implementation flow of the steps. The parameters and variables in the ninth figure are defined as follows: The odometer position changes the number of pulses.

Page 68 486576 V. Description of the invention (65) Time interval of △ τ1 high-speed navigation and odometer circuit. — / △, the speed indicated by the odometer. SFCi Scale factor (F / S) in pulse number. VQDC: ’| Speed of the calculated odometer. ^ αΓ4 Δθ3 ’| Estimation of odometer deflection angles in horizontal and vertical directions. . Pitch and roll angle indicated by 0 L ″ 1 on H.. The odometer mechanism assumes no rotation. Speed of the navigation system (travel angle α). AAC, calculated and calculated heading angle. Coordinate transformations using π, r0l, AAC must be performed at the current high navigation rate. As shown in the ninth figure, step (d.3) further includes: (d · 3 · 1) converting the speed expressed by the odometer or the flow meter in the body coordinate system to the speed expressed in the navigation coordinate system; (d.3.2) Compare the speed of the odometer or tachometer with the speed obtained by the IMU to get the speed difference; (d · 3 · 3) Integrate the speed · difference within a predetermined period of time. In order to further clarify that the small IMU is applied to the self-contained positioning method and system of the present invention, as shown in Figs. 1 to 36, the MEMS technology and the small IMU are further described as follows. Micro-electro-mechanical systems use existing microelectronics structures to make complex micron-sized machines. Such machines can have many functions, including induction, communication, and excitation, and they are widely used in commercial applications. Utilize the advantages of small size, low cost, batch processing, and vibration resistance of MEMS sensors to develop low cost, low weight, miniaturization and accuracy

Page 69 V. Description of the invention (66) The highly integrated micro-electromechanical motion measurement system is well known. The existing motion inertia and traditional angular rate sensors or gyroscopic angular rate instruments and acceleration instruments cannot be used as a single angle measurement for motion inertia measurement. The rate generator and acceleration generator know the highly accurate dynamic environment to download body velocity instrument matrix and acceleration velocity instrument wedge. Angular rate generators, such as micro-electromechanical barriers, such as three-axis angular rate measurements such as micro-electromechanical acceleration instrument matrices or accelerometer measurement signals, such as attitude and flight through three velocity generators from angular rate generators. In the present invention, in the present invention, the angular rate generator number is processed to obtain the number of miles and the speed increase of the carrier; further processing is performed on the micro-electromechanical angular rate instrument appearing in the attitude and heading measurement of the downloading body and adding to the inertia In the measurement component, such as the microkernel, refer to the eleventh figure, and the following example steps of the present invention are constituted. 1. The idea of "generating the system by the angular rate generator" is very straightforward to measure the processing screw and accelerometer of the component, but it produces the best performance. Yuan provides a processor output signal that can measure attitude and heading moments. It can be obtained by processing the angular rate, angular rate instrument matrix, or volume signal, and the accelerometer matrix, which provides the processing of the angular velocity measurement signal signal to the carrier such as the angle. The high accuracy of the characterization of the acceleration generator can be obtained. Obtaining highly accurate data, the present invention special speed instruments, these instruments measure the inertial parts of the carrier. The method of measuring the motion of the carrier. The method is most suitable for the micro-electromechanical method. The dynamic measurement can be combined with the angular rate increase from the output signal. The dynamic fit method is combined with the three-axis angular rate signal and the acceleration.

Page 70 486576 V. Description of the invention (67) The generator clO generates a two-axis acceleration signal. During speed and speed increase generation, the three-axis velocity port is converted into a number of angular increments and the three-axis acceleration signal is converted into a speed increase. Use the three-axis angular increment and 3 · In the attitude and heading processor c 8, the three-axis speed increment calculates the attitude and heading. Generally speaking, the angular rate generator "and the acceleration generator C10 are very sensitive to changes in the temperature environment. In order to improve the accuracy of the measurement, the present invention introduces step 4 as described above, as shown in Figure 12 ◎ Step 4 is a The purpose of the thermal control circuit is to maintain a preset operating temperature between 150 ° F and 185 ° F, preferably 176 (+ _. Step 4 further includes:

4A-1 generates a temperature signal from the thermal generator cl5. 4A-2 inputs the temperature signal to the thermal processor 30, and its purpose is to calculate the temperature control command using the temperature signal, the temperature scale factor, and the pre-set angular rate generator 05 and the operating temperature of the acceleration generator cl 0. 4A-3 uses a temperature control command to generate a drive command to drive the heater c20, and 4A-4 enters a drive letter into the heater C20 to control the heater C20 in order to ensure the set operating temperature of step 1 to step 3 to generate enough Heat and get the right temperature.

The temperature characteristic parameters of the angular rate generator c5 and the acceleration generator cl 0 can be determined during a series of calibration tests that include the angular rate generator and acceleration generator temperature characteristics.

Page 71 486576 V. Description of the invention (68) ~ ~ — I 'Refer to the thirteenth figure, if the above steps about the temperature control loop are not used, in order to compensate the errors caused by the temperature environment change of the angular rate generator and the acceleration generator After step 3, the invention further comprises steps ·. 3A-1 generates a temperature signal from a thermal and sensitive generator cl5, and generates a digitized temperature from a temperature digitizer cl8, and inputs it to the attitude and heading controller c8〇 3A-2 uses the angular rate generated from the temperature ^ digitizer cl8 to generate The temperature characteristics of the angular rate generator and the acceleration generator are obtained from the current temperature of the generator and the acceleration generator; and

^ 3A-3 Compensate for errors caused by thermal effects in the digital angle and speed increments of the turn-in, and calculate the attitude and heading by using the three-axis digital angle increment and three-axis speed increment in the attitude and heading processor c80. angle. In step 1 described above, in a preferred application, the angular rate generator-5 and the acceleration generating gci0 are the preferred micro-electromechanical angular rate instrument matrix and the acceleration instrument matrix, and their output signals are analog voltage signals. Existing micro-electromechanical angular rate and acceleration sensors use an input reference voltage to generate an output voltage, which is proportional to the input voltage and the rotation and translation of the carrier. Therefore, 'step 1 is further composed of the following steps: 〇 丨 _ · 1 obtains a three-axis analog angular rate voltage signal from the angular rate generator c5', which is proportional to the angular rate of the carrier; and

. 1.2 Obtain a three-axis analog acceleration voltage signal from the acceleration generator c 1〇, which is proportional to the acceleration of the carrier. The output signals of § angular rate generator C5 and acceleration generation -ci〇 are too weak for step 2 above to be read by step 2 above.

Page 72 ^ 〇y / b V. Description of the invention (69) · Step 1 preferably includes steps 1.3 and 1.4 with amplifying effect to amplify the angular rate generator 'c5 and acceleration-ci' Simulate the voltage output signal and suppress the noise in this signal, as shown in Figures 15 and 21. 1.3 Through the first amplifying circuit c6i and the second amplifying circuit c 67 put i two-axis analog angular rate voltage signal and three-axis analog acceleration voltage signal. 1 · 4 amplified three-axis analog angular rate signal and three-axis analog acceleration number are fed into the integrator circuit C62 and the integrator circuit C68. Correspondingly 'Referring to the fourteenth figure, step 2 of the above conversion further includes the following example steps:

2 · 1 Integrate the three-axis analog angular rate voltage signal and three-axis analog acceleration signal at a predetermined time interval to accumulate these signals as the original three-axis angular increase in the predetermined time interval And the original three-axis speed increment to get the accumulated angular increment and the accumulated speed increment. This integration can eliminate noise signals that are not proportional to the carrier angular rate and acceleration in the two-axis analog angular rate voltage signal and the three-axis analog acceleration signal to improve the noise-to-noise ratio and eliminate the south frequency signal. In the three-axis analog angular rate voltage signal and the three-axis analog acceleration voltage signal, a signal that is proportional to the angular rate and acceleration of the carrier can be used in subsequent steps. 2.2 Form an angle zeroing voltage pulse and speed zeroing voltage. X ^ * rta da αδ. 丄 k impulse, respectively, used for angle calibration and speed calibration

2 · 3 pass jI2020 voltage pulses and velocity clearing voltage pulses to measure the accumulated three-axis angular increment and the accumulated three-axis velocity increment to obtain the angular increment leaf number and velocity increment count, which are used as digitization Angle and speed measurement

486576, invention description (70) In order to output the actual three angular increments and speed increments as the selected output formula 'to replace the three-axis cumulative angle increment and speed increment voltage values, after step 2.3, a The conversion step further includes: 2 · 4 Adjusting the accumulated three-axis angle and speed voltage signals to the actual two-axis angle and speed incremental voltage signals. In the integration step 2.1, the three-axis analog angular voltage signal and the three-axis analog acceleration signal are cleared at the initial point of each preset time interval to be accumulated from zero. In addition, generally speaking, the angle clearing voltage pulse and the speed clearing voltage pulse in step 2.2 can be realized by the real-time pulse generated by the oscillator c 6 6 as shown in the sixteenth figure. In step 2.3, as shown in the seventeenth figure, the measurement of the accumulated three-axis angle and speed increment can be realized by an analog signal to digital signal converter. In other words, step 2.3 is essentially a digital step of changing the original three-axis angle and speed increment voltage value into a digitized three-axis angle and speed increment. In the application, the above-mentioned amplifier, divider, analog / digital converter c65〇 and oscillator c6 6 circuit can be implemented by using application specific integrated circuit (ASIC) and printed circuit board (Printed Circuit Board). As shown in the twenty-first figure, step 2.3 further includes the following steps:

The accumulated angular increment of 2 · 3 · 1 and the accumulated speed increment are input to the angle analog / digital converter c 6 3 and the speed analog / digital converter, respectively. 2 · 3 · 2 Measure the accumulated angle increment by the angle clear voltage pulse,

Page 74 V. Description of the invention ^ ^ ^ S 'two ------- and then through the analog / digital Korean converter disk Xuan Wai Luo angle selection Dandou: two rotations 15 3 the number of accumulated angular increments, And measure the voltage in the corner of the c65 sent to the wheel input / output interface circuit. Measure the result 2 ^ 3 3 by the speed zero voltage pulse to accumulate the accumulated speed increment. , And realize the measurement of the digitized speed and voltage by counting the counts, and send the junction to the wheel in / wheel out interface circuit c65. , 2 · 3 · 4 by the wheel input / output interface circuit c65 and the voltage value of the speed increment. The calculated number of two-axis angles 22 can be achieved by applying heat treatment to the thermal generator cl5 with analog voltage output and the heater c2 with mold 1 input. The digital feedback control loop actually implements the eighteenth figure. The above control loop step 4 optionally includes the following steps: (4B-1) generating a voltage signal to an analog / digital converter through a thermal sensitive generator cl5, — (U-2) The analog / digital converter c304 samples the voltage signal and digitizes the voltage signal, and outputs the digital signal to a temperature control c30 6, and the port (4B-3) passes the temperature controller c3 (6) Use the digital temperature voltage signal, the temperature calibration coefficient, and the predetermined operating temperature of the above-mentioned angular rate generator and acceleration generator to calculate a digital temperature control instruction, and send the digital temperature decay control instruction to a digital / The analog converter c303, (4B-4) converts the digital temperature control from the digital temperature controller c3006.

Page 75 486576 V. Description of the invention (72) The control instruction is converted into a mimetic signal and the analog signal is output to a heater c 2 0 in order to generate appropriate heat to ensure the above-mentioned steps} to 3 in advance. Exact temperature. If the voltage signal generated by the thermal induction generator cl5 is too weak to be read by the analog / digital converter c304, then there is an amplification function between the thermal generator ci5 and the digital / analog converter c303. Steps 4-0 are shown in Figure 19. Step 4-0 with amplification: the voltage signal is obtained from the thermal sensor cl5 and input to the first amplifier circuit c301 to amplify and suppress the noise in the voltage k 'to improve the noise ratio, where the amplified voltage signal is input To analog / digital converter C304. In general, the heater c20 requires a special driving current signal. In this case, as shown in the twentieth chart, there is a 4.5 processing step with an amplification function between the digital / analog converter c303 and the heater c20. 4B-5 amplifies the input analog signal from the digital / analog converter c303 in the second amplifier circuit c302 and closes the temperature control loop. Then, as shown in the twentieth figure, steps 4B-4 are further composed of the following steps. 4B-4A converts the digital temperature command from the temperature controller c3006 to analog in the digital / analog converter c303. Signal, which is input to the amplifier circuit c3 0 2. Sometimes, an input / output interface circuit c305 is required to connect the analog-to-digital converter c30 4 and the digital converter c30 to the temperature. The controller C306 is shown in FIG. 21. In this case, step 4B -2 consists of the following steps

Page 76 486576 V. Description of the invention (73). * '4B-2A samples the voltage signal through the analog / digital converter c304, digitizes the sampled signal, and then outputs the digital signal to the input / Output interface circuit c305. Thus, as shown in FIG. 21, step 4 B-3 further includes: 4B-3A using the digital temperature voltage signal from the input / output interface circuit c 305, the temperature sensor scale factor, the predetermined angular rate generator and the acceleration generator. Working temperature, calculate the digital control command, and feed back the digital temperature control command to the input / output interface circuit C305. As shown in the twenty-first figure, steps 4B-4 further include: 4B-4B converts the digital temperature control instruction from the input / output interface circuit c30 5 to an analog signal through a digital / analog converter c3 03 and converts the analog The signal is given to the heater c20 so as to provide enough energy to maintain the operating temperature of the system in the entire steps (1) to (3). As shown in Figure 22, the above step 3A-1 can be implemented by an analog / digital converter cl82. The analog / digital converter cl82 is designed for a thermal sensor with an analog signal output. The voltage signal generated by the generator cl 5 is too weak to be read by the analog / digital converter cl 82. As shown in FIG. 23, between the thermal generator cl5 and the analog / digital converter cl 82, three additional Signal amplification processing steps, step 3A-1 further includes ... 3A-1. 1 input the voltage signal from the thermal generator cl 5 to the amplifier circuit c 1 81 in order to amplify the signal, compress the noise in the signal, and improve the signal noise Ratio, the amplified signal is sent to the analog / digital converter 486576 V. Description of the invention (4) cl82 〇, 3A — i · 2 The input signal is sampled by the analog / digital converter cl 82, and the signal is Digitize it into a digital signal, and output this digital signal to the attitude heading processor c80. Generally, a round input / output interface circuit cl83 needs to be connected between the analog / digital converter cl 82 and the attitude heading processor c80. Thus, as shown in Figure 24, steps 3A-1 · 2 further include:. 3A-1 2A usually the analog / digital converter cl 82 samples the input signal 'and digitizes the 彳 § number into a digital signal, and outputs the digital signal to the input / output interface circuit C183. — ^ As shown in the eleventh figure, through the second processing step, the digital two-axis angular incremental voltage value or real value and the three-axis digital speed incremental voltage value or real value are generated and output. In order to adapt to the numerical value of the incremental voltage of the two-axis angle and the incremental voltage of the digital three-axis speed, as shown in the fifteenth figure, the above step 3 further includes: 3B. (2) The digital triaxial angular incremental voltage value of the input / output circuit C 65, and the coarse velocity angular rate offset from the calibration process of the angular rate and acceleration generator, to a cone error compensation module C811, where the cone error In the compensation module, the conical effect error is calculated using the input three-axis angular incremental voltage value and the coarse angular velocity offset, and the above three-axis conical effect error and the long-period two-axis angular increment are output at a lower rate (long period) The voltage value is given to an angular rate compensation module c812. 3B. 2 Input from the above-mentioned cone error compensation mode (: the above-mentioned cone effect error of 811, the two-axis long period angle increment electric sub-value, and the above-mentioned angular velocity

Page 78 486576 V. Description of the invention (75) * i — Angular rate generator installation misalignment angle parameter of the rate and acceleration generator calibration process, fine angular rate offset error term, angular rate generator scale coefficient, cone, positive The scale factor, to the above-mentioned angular rate compensation module C812, uses the input cone effect error, the angular misalignment of the angular rate generator, the fine angular rate offset error term, and the positive correction factor of the circular cone to compensate The axis long period angle incremental voltage value uses the scale system of the angular rate generator described above. The three-axis long period angle incremental lightning pressure value after the compensation is converted into an actual two-axis long period angle incremental value, and the above The actual three-axis long period angle increment value is output to an alignment rotation vector calculation module C815. , 3β · 3 inputs Three-axis velocity 増 ϊ 'from the input / output circuit C65 of step 2 and the misalignment angle of the installation of the acceleration device, the acceleration offset error, and the scale of the acceleration device from the above-mentioned angular rate generator and acceleration generation calibration process Coefficient, to an acceleration compensation module C813, using the acceleration device scale coefficient to convert the wheeled three-axis speed incremental voltage value into the actual three-axis speed incremental value. The term 'compensates the deterministic error in the above-mentioned three-axis speed increase, and outputs the three-axis speed increase after compensation to a horizontal leveling speed calculation module C 81 4. 3B · 4 In the above-mentioned alignment rotation vector calculation module CD ^, the three-axis angular increment from the above-mentioned angular rate compensation module C 812 is used, and the east damping angle increment from an east-direction damping calculation module C 8110 is from a north-direction. The northbound damping angle increment of the damping calculation module C819, the vertical damping angular rate from a vertical damping calculation module C810, updates a quaternion, the quaternion is a vector 'used to represent the rotation motion of the above carrier, after the update Quaternary

Page 79 486576 V. Description of the invention (76) " '一 ~~ 一 ~' ~-The number is sent to the cosine Chen calculation module C8 丨 6 in one direction. , 3β. 5 calculates a directional cosine array in the above-mentioned direction cosine Chen calculation module C816, and outputs the direction cosine Chen to a horizontal acceleration calculation module CW4 and an attitude and heading angle extraction module C8n ^ 3B. 6 Extraction module in the above attitude and heading angle. In 丨 7, the above-mentioned square cosine Chen is used to calculate the attitude and heading angle, and output the heading angle to the vertical damping angular rate calculation module C818. 3B.7 In the above-mentioned horizontal acceleration calculation module C8U, the three-axis speed increment from the above-mentioned acceleration compensation module C8 1 4 and the direction cosine Chen from the above-mentioned direction cosine moment calculation module C816 are used to calculate the horizontal speed increase, and The horizontal velocity increment is output to the above-mentioned easting damping rate calculation module ^ C8i0 and the northing damping rate calculation module C81 9. 3B · 8 In the eastbound damping rate calculation module C811〇, the northbound velocity increase from the above-mentioned horizontal acceleration calculation module C814 is used to calculate the eastbound angular rate increase, and the eastbound angular rate increase is output to the above alignment. Rotation vector calculation module C815. 3B.9 In the northbound damping rate meter module C819, use the eastward speed increase from the above-mentioned horizontal acceleration calculation module C814 to calculate the northbound damping angle f rate increase, and output the northbound damping angular rate increase to the above pair. Quasi-rotation vector calculation module C81 5.

3B. 10 In the vertical damping rate calculation module C818, the heading angle calculated from the above attitude and heading angle extraction module C817 and the measured heading angle from an external sensor are used to calculate the vertical damping angular rate increment 'and This vertical damping angular rate increment is output to the above-mentioned alignment rotation ^

Page 80 486576 V. Description of the invention (77): ---- Quantity calculation module C815. In order to adapt to the actual value of the digital three-axis angular increment and the actual value of the digital three-axis speed increment, as shown in the fifteenth figure, the above step 3b. The digital three-axis angular increment value of the input / output circuit C65 from the above steps, and the coarse velocity angular rate offset from the angular rate and acceleration generator calibration process, to a cone error compensation module C 8 11 ' In the compensation module, the conical effect error is calculated using the input three-axis angular increment value and the coarse angular velocity offset, and the three-axis conical effect error and the long-period three-axis angular increment value are output at a lower rate (long period). Give an angular rate compensation module C812. 3Β · 2Α input from the above-mentioned cone error compensation mode (: the above-mentioned cone effect error of 811, the three-axis long period angle increment value, and the angular rate generator misalignment angle parameter from the above-mentioned angular rate and acceleration generator calibration process, Fine angular rate offset error term, cone correction scale factor, to the above-mentioned angular rate compensation module C8 1 2 using the input cone effect error, angular misalignment of the angular rate generator, fine angular rate offset error term, and round calibration Cone positive scale factor to compensate the three-axis long period angle increment value input above, and output the actual three-axis long period angle increment value to an alignment rotation vector calculation module C815 〇3Β.3Α input The three-axis speed increment of the input / output circuit C65 from step 2 and the installation misalignment angle and acceleration offset error of the acceleration device from the above-mentioned angular rate generator and acceleration generation calibration process, to an acceleration compensation module C813 'use input Accelerator Installation Misalignment Angular Acceleration

Page 81 486576 V. Description of the Invention (μ) "-: --- Partially describes the accuracy error in the three-axis speed increase, and outputs the two-axis speed increase after supplementation to a horizontal addition module C814. 〇 Is the temperature compensation method used? _ &Amp; &-To adapt to the digital triaxial angle incremental voltage value? The value of the speed increment voltage of the second axis is shown in Figures 13, 24 and 25. The above steps 3A-2 further include: 3A-2.1 input at a high rate (short cycle) from The digital triaxial angular incremental voltage value of the input / output circuit C6 5 of the above step (?), And the coarse angular velocity offset from the calibration process of the angular rate and acceleration generator, to a cone error compensation module C 811, In this cone error compensation module, the two-axis angular incremental voltage value and the coarse angular velocity offset input above are used to calculate the cone effect error, and the three-axis cone effect error and the long period three are output at a lower rate (long period). The value of the shaft angular incremental voltage is given to an angular rate compensation module MΗ. 3A-2 · 2 Input the above-mentioned cone effect error from the above-mentioned cone error compensation module C811, the triaxial long period angular increment electrical sub-value, and the angular rate generator misalignment angle from the above-mentioned angular rate and acceleration generator calibration process Parameters, fine angular rate offset error term, angular rate generator scale factor, cone correction scale factor, to the above-mentioned angular rate compensation module C812, input the digital temperature signal and temperature from the input / output interface circuit C813 of step 3A · ΐ · 2 The scale factor of the sensor, calculate the current temperature of the angular rate generator, use the calculated current temperature of the angular rate generator to find the temperature characteristic data of the angular rate generator, use the input: cone effect error, the angular rate generator's Install the misalignment angle, precise angular rate offset error term, and the positive correction factor of the circular cone to compensate the three-axis long period angle incremental voltage value input above, so that

I surface, page 82, 486576 V. Description of the invention (79) Use the scale system of the angular rate generator to convert the three-axis long-period angular increment lightning pressure value after the above compensation into the actual three-axis long-period angular increment. The temperature characteristics of the angular rate generator are used to compensate the errors caused by temperature changes in the three-axis long-period angular increment value, and the actual three-axis long-period angular increment value is output to an alignment rotation vector. Calculation module C81 5. 3A-2 · 3 input three-axis speed increment from input / output circuit C65 of step 2 and the above-mentioned angular rate generator and acceleration generation calibration process. Acceleration device installation misalignment angle, acceleration offset error, acceleration device's Scale coefficient, to an acceleration compensation module C81 3, input the digital temperature signal from the input and output interface circuit C1 83 of step 3A · 1 and 2 and the scale coefficient of the temperature sensor to calculate the current temperature of the acceleration generator. Use the calculated The current and temperature of the acceleration generator are used to find the temperature characteristic data of the acceleration generator. The acceleration device scale factor is used to convert the input three-axis speed incremental voltage value into the actual three-axis speed incremental value. Accuracy, angular acceleration offset error term, to compensate for the deterministic error in the above-mentioned three-axis speed increment, and use the temperature characteristic data of the acceleration generator to compensate for the error caused by temperature change in the three-axis long-period speed increment value. The three-axis speed increment after compensation is output to a horizontal leveling speed calculation module C8143A-2 · 4 In the above-mentioned alignment rotation vector calculation module C815, the three-axis angular increment from the above-mentioned angular rate compensation module C812 is used, and the eastward damping angle increment from an east-side damping calculation module C811 0 is from a north-direction. The northbound damping angle increment of the damping calculation module C81 9, the vertical damping angular rate from a vertical damping calculation module C818, updates a quaternion, the quaternion is

Page 83 486576 specifies the (80) 7-quantity, which is used to indicate the rotation motion of the above carrier. The four i after this update are sent to the one-direction cosine-Chen calculation module 0816. ， 3 入 -2.5 ~ In the above-mentioned direction cosine Chen calculation module (: 816, use the upper 3 units to calculate the cosine array in different directions, and give the cosine Chen wheel in that direction to an acceleration calculation module C8 1 4 and an attitude. And heading angle extraction module 703A-2.6 In the above attitude and heading angle extraction module CD1, the t-square cosine Chen is used to calculate the attitude and heading angle, and output the heading angle to the vertical resistance rate calculation module C818.

3 A-2 · 7 In the above-mentioned horizontal acceleration calculation module C814, the three-axis speed increase from the inverse acceleration compensation module C8 14 and the direction cosine smell from the above-mentioned direction & moment-of-age calculation module C816 are used to calculate the horizontal speed increase. The word horizontal velocity increment is output to the above-mentioned eastbound damping rate calculation module 10 and the northbound damping rate calculation module C81 9. 3A-2 · 8 In the eastbound damping rate calculation module C8110, the northbound velocity increase from the foot horizontal acceleration calculation module C814 is used to calculate the eastward angular rate increase, and the eastbound angular velocity increase is output to the above.隹 Rotation vector calculation module C815. 3A-2 · 9 In the northbound damping rate meter module C819, use the eastward speed increase from the Shanghuo flat degree calculation module C814 to calculate the northbound damping rate increase, and output the northbound damping angular rate increase to The above-mentioned travel vector calculation module C815. 3A-2 · 10 In the vertical damping rate calculation module C818, the heading angle calculated by the attitude and heading angle extraction module C8 丨 7 and

Page 84 486576 I. Description of the invention (81)-"A measured heading angle from an external sensor, calculate the vertical damping rate increment 'and output the vertical damping angular rate increment to the above = Turn vector calculation module C815. & If the temperature compensation method is used, in order to adapt to the digital triaxial angle increment value and digital triaxial speed increment actual value, as shown in Figures 13, 24, and 25: Steps 3A-2 · 1 ~ 3A-2. 3 Should read: ^ '

3Α-2 · 1 A Input the digital triaxial angular increment value from the input / output circuit C65 of the above step (?) At a pseudo rate (short cycle), and the coarse angular rate from the angular rate and acceleration generator calibration process Offset to a cone error compensation module C 8 11, in which the three-axis angular increment and coarse angular velocity offset entered above are used to calculate the cone effect error at a relatively high rate (long period) The above-mentioned three-axis cone effect error and the long-period two-axis angular increment value are output to an angular rate compensation module C812. 3Α_2 · 2Α Input the above-mentioned cone effect error from the above-mentioned cone error compensation module C8n, the three-axis long period angle increment value, and the angular rate generator installation misalignment angle parameter from the above-mentioned angular rate and acceleration generator calibration process, fine angle Rate offset error term, cone correction scale coefficient, to the above-mentioned angular rate compensation module C812, input the input and output from step 3A · 12, then connect the digital temperature signal of C1 83 and the scale coefficient of the temperature sensor.

Language | Calculate the current temperature of the angular rate generator, use the calculated current temperature of the angular rate generator to find the temperature characteristic data of the angular rate generator. Use the conical effect error of the input, and the angular misalignment of the angular rate generator , The precise angular rate offset error term and the positive correction factor of the circular correction cone to compensate the input two-axis long period angle increment value using the angular rate generator's temperature characteristic data to compensate

Page 85 486576 V. Description of the invention (82) Compensate for errors caused by temperature changes in the three-axis long period angle increment value, and output the above-mentioned actual three-axis long period angle increment value to an alignment rotation vector Calculation module C815 〇 3A-2 · 3A input from the input / output circuit C65 of the three-axis speed increment, and from the above-mentioned angular rate generator and acceleration generation calibration process acceleration device installation misalignment speed compensation module C813, input The digital temperature signal from the circuit C183 and the current temperature of the current temperature of the acceleration generator are found to determine the acceleration error. Accelerator installation misalignment angle plus the deterministic error data in the shaft speed increment. The error will be compensated after the triaxiality calculation module C814. Explanation of drawing numbers: 1-Inertial measurement component 3-Navigation processor 311-Sensor compensation module 3122_ Speed integration module 32-Magnetic sensor processing module 3 2 2-Soft iron compensation module 322-Inertial navigation algorithm module M2, 342 'scale factor And angle, acceleration bias error, add to the scale factor of the temperature sensor of the input / output interface of step 3 A · 1.2, and use the calculated temperature characteristic data of the acceleration generator generator, using the input speed offset The error term, which compensates the above three, uses the temperature increase of the acceleration generator's temperature special increment value due to the temperature change to output a level and leveling speed 2-North finder 31-INS calculation module 3 1 2 1-attitude integration Module 3123-Position module321- Hard iron compensation module 322- Heading calculation module 33-Odometer processing moduleAlignment error compensation module

Page 86 486576 V. Description of the invention (83) 331-Transformation module 333, 343-Relative position calculation module 3 4-Flowmeter processing module 341-Transformation module 3 5-Kalman filter 3 5 1-Motion test module 3 5 2 _Measurement and time-varying matrix formation module 3 5 3-State estimation module 4-Wireless communication device 5-Map data 6-Speed generator 6 1-Odometer 7-Display device 10-Acceleration generator cl-Metal positive six Hexahedron cl 5-Thermal sensitive generator cl8-Temperature digitizer cl81-Amplifier circuit cl 82 0-Analog / digital converter cl82-Analog to digital converter cl83-Input / output port circuit c2-First circuit board c 2 0 -Heater c23-First front-end circuit c22-Y-axis accelerometer c21 -X-axis vibration-type angular rate detection units c231, c431, c731 Impedance conversion amplifier circuit c232, c432, c732 high-pass filter circuit c25-First thermal sensitive Generation unit c 3 0-thermal processor c301-first amplifier circuit c302-second amplifier circuit c3 0 3- digital / analog converter c304-analog / digital converter c30 4- connection and analog / digital converter c305-input / Output connection Port circuit c3〇6-temperature controller c4-second circuit board c42-X-axis accelerometer c 41-Y-axis vibration type angular rate detection unit c43-second front-end circuit c44-second heat-sensitive generating unit

Page 87 486576 V. Description of the Invention (84)

C5-Angular Rate Generator c5 c5-Angular Rate Generator c6-Angular Increment and Velocity Delta Generator c61-Angle Amplifier Circuit c c62-Angle Integrator Circuit c c630-Acceleration Integrator c c62 0-Angular Integrator c63- Angle analog / digital conversion c 6 6 _ Vibrator c640-Resetter c65-Input / output interface circuit c65 0-Angle increment and speed increment measurer c660, c665-Amplifier c67_ Acceleration amplifier electronics c68-Acceleration Integrating circuit c660, c6 6 5-amplifier c69-speed analog / digital converter c7-third circuit board c72-Z-axis accelerometer c71-Z-axis vibration type angular rate detection unit c73-third front-end circuit c74-third thermal Sensitive generation unit c80-Position and attitude processor c81_ Attitude and heading module c811 Cone error compensation module c8iiq —East damping calculation module c8 1 2-Angular rate compensation module c813-Acceleration compensation module c8 14-Horizontal leveling speed calculation module c815- Alignment rotation vector calculation module c816-direction cosine Chen calculation module c8 17-attitude and heading angle extraction module

Directional Damping Calculation Module C810- C820 1-Cone Error Compensation Module c82—Position, Speed, Pose! Vertical Damping Calculation Module Attitude and Heading Module

Page 88 486576 V. Description of the invention (85) c82 0 2-Angular rate compensation module c8203-Acceleration compensation module c8204-Horizontal leveling speed calculation module c8206-Direction cosine Chen calculation module c820 5-Alignment rotation vector calculation module c8208-Position Speed update module c8207-Earth and carrier rate calculation module c8209-Attitude and heading angle extraction module c9-Control circuit board C9l-DSP chip 纰 c9 1 1 _ Thermal control calculation module c9 1 2-Vibration processing module c91 21-Discrete fast Furi Leaf transformation module, c9122-frequency and amplitude data storage array module c 9 1 2 3-maximum value detection logic module c9124-Q value analysis and selection logic module c92 b three angle signal loop electrical circuit C9212-amplification and adder circuit, c922-three vibration control circuit, generator circuit, C9222-high-pass filter, electric C9224-analog / digital converter, C9226-digital wedge analog converter, c925-oscillator, c 9 1 2 5-phase-locked loop, c9211-voltage amplifier, c9213-solution Modulator c9221-amplifier and add c9223-demodulator circuit C9225-low pass chirp c9227-amplifier c923-thermal control circuit c9232-analog, digital converter c9234-second amplification Generator circuit cl〇-Acceleration generator c923 Bu the first mega circuit C9233-Digital wedge analog converter c 9 0 _External sensor

486576 Schematic illustration of the diagram Preferred implementation of the implementation scheme Preferred implementation party Preferred implementation party Preferred implementation party Shows the preferred implementation party according to the present invention described above. Figure 1: shows the comparison of the characteristics of pure INS and auxiliary INS. The second figure: shows the temperature-induced ME MS gyro error characteristics. The third figure is a block diagram showing a preferred carrier self-contained positioning system and method according to the present invention. The fourth figure ... is a block diagram showing a navigation processor processor module according to the present invention described above. Fig. 5 is a block diagram showing an inertial navigation processing module according to the present invention. FIG. 6 is a block diagram showing signal processing of the magnetic sensor according to the present invention described above. FIG. 7 is a block diagram showing the odometer signal processing according to the present invention described above. Figure 8 shows the preferred implementation of the present invention. Figure 8: Speedometer signal processing for a block diagram. Figure 9: Calculation of odometer relative position error measurement for a block diagram. Fig. 10 is a block diagram showing the calculation of the Kalman filter according to the present invention described above. Figure 11: The processing module of the small inertial measurement module of the present invention is shown. Fig. 12 shows the processing module and the corresponding thermal control processing module of the small inertial measurement module of the present invention. Figure 13: A small inertial measurement module of the present invention is shown

Page 486 576

The diagram simply illustrates the processing module and the corresponding thermal compensation processing module. The fourteenth figure shows the preferred scheme of the small inertial measurement stage of the present invention. The angular increment and velocity increment generators are used to process the output voltage signals of the angular rate generator and the acceleration generator. Fig. 15 shows another preferred angular increment and velocity increment generator of the small inertial measurement module of the present invention, which is used to process the output voltage signals of the angular rate generator and the acceleration generator. Fig. 16 shows another angular increment and velocity increment generator of the preferred scheme of the small inertial measurement module of the present invention, which is used to process the output voltage signals of the angular rate generator and the acceleration generator. Fig. 17 shows another angular increment and velocity increment generator of the preferred scheme of the small inertial measurement module of the present invention, which is used to process the output voltage signals of the angular rate generator and the acceleration generator. The eighteenth figure ... shows a preferred embodiment of the small inertial measurement module of the present invention, a thermal processor for processing an analog voltage signal output from a thermally sensitive generator. Fig. 19 shows another preferred embodiment of the small inertial measurement button according to the present invention, which is a thermal processor for processing an analog voltage signal output from a thermal sensitive generator.

Fig. 20 shows another preferred embodiment of the small-scale inertial measurement unit of the present invention, which is a thermal processor 'for processing an analog voltage signal output from a thermally sensitive generator. Figure 21 shows the processing module of the preferred solution of the small inertial measurement module of the present invention.

Page 91 486576 Brief description of the diagram Twenty-two diagrams show the temperature digitizer of the preferred embodiment of the small-scale inertial measurement module of the present invention, which is used to process the analog voltage signal output by the heat-sensitive generator. Figure 23 shows another temperature digitizer, which is a preferred solution for the small inertial measurement module of the present invention, and is used to process the analog voltage signal output from the thermal sensitive generator. Figure 24 shows the processing module and the corresponding thermal compensation processing module of the preferred embodiment of the small inertial measurement module of the present invention. The twenty-fifth figure shows the attitude and heading processing module of the preferred embodiment of the small inertial measurement module of the present invention. Twenty-sixth figure: Position and velocity processing module showing the preferred solution of the small inertial measurement module of the present invention. Figure 27: A perspective view showing the mechanical structure and circuit board layout of the preferred embodiment of the small-scale inertial measurement module of the present invention. Fig. 18 is a sectional view showing a preferred embodiment of the small-scale inertial measurement module of the present invention. Figure 19 shows a connection diagram between four internal circuit boards in the preferred embodiment of the small inertial measurement module of the present invention. The tenth figure shows a block diagram of the front-end circuits of the first '2, 3, 4 circuit board of the preferred scheme of the small inertial measurement unit of the present invention. Fig. 11 is a block diagram showing an ASIC chip of the third circuit board of the preferred embodiment of the small inertial measurement unit of the present invention. Figure 22 shows the best and best method of the processing module running in the DSP of the third circuit board of the small inertial measurement solution of the present invention.

Page 92 486576 Brief Description of Drawings Figure 33: A block diagram showing an angular signal loop circuit of an ASIC chip of the third circuit board of the preferred embodiment of the small inertial measurement module of the present invention. Fig. 34 is a block diagram showing a dithering motion control circuit of an ASIC chip of a third circuit board of the preferred embodiment of the small inertial measurement module of the present invention. Figure 35: A block diagram showing the thermal control circuit of the AS 1C chip of the third circuit board of the preferred embodiment of the small inertial measurement red piece of the present invention. The thirty-sixth figure shows a dithering motion control processing module running in the DSP of the third circuit board of the preferred embodiment of the small inertial measurement module of the present invention.

Chapter 93

Claims (1)

486576 Six 'application for patent scope 1 · A carrier self-contained positioning system, including: inertial measurement component, placed on the carrier' to measure the movement of the plant, corresponding to the movement of the carrier to generate digital angular increment and velocity increment signals; North finder, Placed on the carrier to generate the heading measurement of the carrier; a speed generator placed on the carrier to generate the speed data of the current axis of the carrier; a navigation processor connected to the inertial measurement component, a north seeker, and a speed generator, In order to receive the digital angular and speed incremental signals, heading measurement, and speed data of the current axis of the carrier system, send them into a real-time software for: IMU obtained from the digital angular and speed incremental signals The position is compared with the position measurement obtained from the heading measurement and the velocity data of the current axis of the carrier system to obtain a position difference, and if the position difference is greater than a predefined scalar, the position difference is fed back to correct the IMU position to output the correct IMU positioner. 2. The carrier self-location positioning system according to claim 1, wherein the north finder is a sensor that is sensitive to the earth's magnetic field to measure the heading angle of the carrier. 3. The self-carrying positioning system of the carrier as described in the patent application scope 1, further comprising a wireless communication device for exchanging the obtained I MU position information and the corrected MU position information with other users. 4. The carrier self-carrying positioning system as described in the patent application scope 2, further comprising a wireless communication device for exchanging the obtained IMU position information and the modified MlJ position information with other users. Page 94 486576 6. Application Patent Scope 5 · The self-carrying positioning system of the carrier as described in the scope of the patent application 1, wherein a map database and a display device are further added to the carrier's self-positioning system for mapping on the map. Display the location of the carrier, and obtain the surrounding environment information by accessing the map database with the location information. 6 · The self-carrying positioning system of the carrier as described in the patent application scope 2, wherein a map database and a display device are further added to the carrier self-positioning system to display the position of the carrier on the map and to pass the position Information access map database to obtain information about the surrounding environment. 7. The carrier self-contained positioning system as described in the patent application scope 3, wherein a map database and a display device are further added to the carrier self-contained positioning system to display the position of the carrier on the map and to pass the position Information access map database to obtain information about the surrounding environment. 8. The self-carrying positioning system of the carrier as described in the patent application scope 4, wherein the / map database and a display system are further added to the carrier self-positioning system to display the position of the carrier on the map, and to use the Those who trust the location and access the map database to get information about the surrounding environment. ^ The carrier self-contained positioning system as described in the scope of the patent application, wherein the navigation processor further includes: an INS calculation module, which generates an inertial positioning measurement using digital angular increment and velocity increment signals from MEMS. Responsibilities 'A magnetic sensor processes a block to generate a heading angular velocity generator processing module' to generate a relative position error measurement for a Kalman oscillator; an integrated Kalman filter 'is used to perform Kalman filtering' wave calculations Page 95 486576 VI. Patent application scope wrong way ’Estimation of inertial positioning measurement error # jLi Juli, use the positive inertial positioning measurement to measure the poor. 10. In the self-carrying of the carrier as described in the scope of application patent 9, the INS calculation module further includes: 糸 system-correction of the digital angular increment and speed inertial navigation algorithm module for calculating ΙΜϋ position, velocity and attitude A sensor compensation module is used to increase the error in the signal. State 11: In the carrier self-carrying positioning system described in the patent application scope 10, the inertial navigation algorithm module further includes: A module for integrating the digital angular increment into attitude data; A one-speed f-integration module converts the measured speed increment to an appropriate navigation coordinate system by using attitude data, and integrates the converted speed increment into speed data; a position module is used to It is described that the speed data integrated in the navigation system is integrated into the position data. 12. The carrier self-contained positioning system according to claim 11 in the patent application, wherein the speed generator processing module further includes: A conversion module for converting the input measurement speed representing the on-board system to the measurement speed of the table system in the navigation coordinate system; a scale coefficient and misalignment error compensation module for compensating the scale coefficient and Misalignment error; a relative position calculation module to receive IMU speed and attitude data P.96 486576 6. Scope of patent application — and the measurement speed after compensation is used to form relative position error measurer for Kalman filter and wave filter. 13. The carrier self-carrying positioning system according to claim 12, wherein the Kalman filter module further includes: a motion test module to determine whether the carrier stops automatically; a measurement and time-varying matrix forming module 'It is used to form a measurement and time-varying matrix for a state estimation module according to the motion state of the carrier from the motion test module; and said state estimation module is used to filter the measurement and obtain the optimal estimator of the I μ u position error. 14. The carrier self-contained positioning system as described in claim 13, wherein the state estimation module further includes: a horizontal filter for obtaining an estimation of a horizontal IMU position error; and a vertical filter for Obtain an estimator of the vertical IM U position error. 15. The self-carrying positioning system for a carrier according to claim 13 in the patent application range, wherein the motion test module further comprises: an odometer change test module for receiving an odometer reading to determine whether the carrier is stopped or restarted ; / System speed change test module, used to compare the current speed change with the previous encounter period, to determine whether the carrier is stopped or restarted; / System speed test module, used to compare the amplitude of the system speed with a pre-defined 486576 6. Patent application scope-Attitude change test module, which compares the amplitude of the system attitude with a predefined value to determine whether the carrier is stopped or restarted. Starter. 16. The self-carrying positioning system for a carrier according to claim 1, wherein the speed generator is an odometer for measuring the relative speed of the carrier relative to the ground when the carrier is on land. 17 • The carrier self-carrying positioning system according to claim 15 in the patent application, wherein the speed generator is an odometer for measuring the relative speed of the carrier relative to the ground when the carrier is on land. 18. The self-carrying positioning system for a carrier as described in the scope of application patent 1, wherein the speed generator is a flow meter for measuring the speed of relative water, when the carrier is on water. 19. The self-carrying positioning system for a carrier as described in the scope of patent application 15, wherein the speed generator is a flow meter for measuring the speed of relative water, when the carrier is on water. 20. The carrier self-carrying positioning system according to claim 15 in which the north seeker is a magnetic sensor that is sensitive to the earth's magnetic field to measure the heading angle of the carrier. 21. The carrier self-carrying positioning system as described in the scope of application patent 15, further including a wireless communication device for exchanging the obtained MU position information and the corrected I MU position information with other users. 22. The carrier self-carrying positioning system as described in the scope of application for patent 21, wherein ′ further includes ~ wireless communication devices for exchanging the obtained IMU position information and the corrected IMU position information with other users. 23. The carrier self-contained positioning system as described in the patent application range 5 Page 98 486576 h ------------- 6. In the patent application park, a map database and a display device are further added to the carrier's self-contained positioning system to display the location of the carrier on the map. And by accessing the map database with location information to obtain information about the surrounding environment. 24. The carrier self-contained positioning system as described in the patent application scope 22, wherein a map database and a display device are further added to the carrier self-contained positioning system to display the position of the carrier on the map, and to use the position Information access map database to obtain information about the surrounding environment. 2 5 · The carrier self-contained positioning system as described in the patent application scope 1, wherein the inertial measurement member is a small inertial measurement component, including: an angular rate generator for generating X, Y, and Z axis angular rates Signal; an acceleration generator for generating X, Υ, and Z axis acceleration signals; an angular increment and speed increment generator for converting the X, γ, and Z axis negative rate signals into digital angle increments And converting the X, γ, and Z axis acceleration signals into digital speed incrementers. 26. The carrier self-carrying positioning system according to claim 25, wherein the small inertial measurement component further comprises a thermal control device to convert the angular rate generator, acceleration generator and angular increment And the operating temperature of the speed increase generator is maintained at the set value. 2 j. The carrier self-carrying positioning system as described in the patent application range 26, wherein the thermal control device further includes a heat sensitive generator, a heater and a heat processor, wherein the heat sensitive generator and The angular rate generator, acceleration generator and angular increment and velocity increment generator work in parallel to generate a temperature signal so as to generate the angular rate generator, acceleration generator and angular increment and velocity increment. The working temperature of the device is maintained at the setting 486576 6. Value of patent application scope. The set temperature is a constant value and can be selected between i 5 0 卞 and 丨 8 5. The temperature signal generated by the thermal sensitive generator is output to the thermal processor. The thermal processor uses the temperature signal and temperature. The scale coefficient and the predetermined operating temperature of the angular rate generator and acceleration generator and the angular and speed increment generators are used to calculate a temperature control instruction and form a corresponding drive signal to the heater to control the heater to generate Sufficient heat to maintain the predetermined operating temperature of the angular rate generator and acceleration generator and the angular increment and velocity increment generator. 2 8. The carrier self-carrying positioning system as described in the patent application range 26, wherein the χ, γ, and Z-axis angular rate signals from the angular rate generator are analog voltage signals, which are directly proportional to the angular rate of the carrier The X, γ, and Z axis acceleration signals generated by the acceleration generator are analog voltage signals that are directly proportional to the acceleration of the carrier. 29. The self-carrying positioning system of the carrier as described in the patent application scope 27, wherein the X, Y, and Z axis angular rate signals generated by the angular rate generator are analog voltage signals, which are directly proportional to the angular rate of the carrier X, Y, Z axis acceleration signals from the acceleration generator are analog voltage signals, which are directly proportional to the acceleration of the carrier. 30. The carrier self-contained positioning system as described in the patent application scope 29, wherein the angle increment and velocity increment generator include: an angle integrator and an acceleration integrator are respectively used to integrate X within a predetermined period of time. , Υ, and Z axis angular rate analog voltage signals and X, γ, and ζ axis acceleration analog voltage signals, so as to accumulate X, Υ, and Z axis angular rate analog voltage signals and X, Υ, and Z axis acceleration analog voltage signals, forming uncompensated the begining Page 100 486576 6. Angular increment and velocity increment of the patent application range, in which the integration operation is to eliminate the X, Y, and Z axis angular rate analog voltage signals # and the χ, γ, and z axis acceleration analog voltage signals. The noise signal that is not directly proportional to the angular velocity and acceleration of the carrier, knan " is said that the voice ratio is' and eliminated in the X, Y-axis angular velocity analog voltage signal and the X, Y, Z-axis acceleration analog voltage signal. High-frequency noise; The resetter generates angle reset voltage pulses and speed reset voltage pulses, which are used as angle and speed scales to output to the angle integrator and acceleration integrator respectively; and the angle increment and speed increment measuring devices use this angle The reset voltage pulse and the speed reset voltage pulse are used to measure the accumulated X, Y, and Z axis angular rate analog voltage signals and the X, Y, and Z axis acceleration analog voltage signals to obtain the angular increase. The quantity count value and the speed increment count value are correspondingly used as the digital quantities for the angular increment and the speed increment. 31. The carrier self-carrying positioning system as described in the patent application scope 30, wherein the angle increment and speed increment measuring device will accumulate the accumulated X, γ, Z axis angle increment and speed increment voltage values Converted into actual X, γ, and Z axis angular increments and speed increments, where the X, Y, and Z angular velocity analog voltage signals and X, γ, The z-axis acceleration analog voltage k number is reset separately so that the accumulator starts from zero at the beginning of each predetermined period of time. 32. The carrier self-contained positioning system according to claim 31, wherein the reset device includes an oscillator, and the angle reset voltage pulse and the speed reset voltage pulse are realized by the timer generating a timing pulse. By 0 Page 101 VI. Application for patent scope 33. The self-carrying positioning system of the plant as described in application scope 32. For measuring the accumulated X, Y, and Z angular velocity mode systems, Y, Z axis The angular increment and the speed of the acceleration analog voltage signal are included in the analog-to-digital converter so as to actually digitize the angular and speed increment voltage values of the Lili axis into x, Y quantities, and Digital measure of speed increase. The angle is 34. The carrier self-carrying positioning system as described in the patent application range 33. In the middle, the angle integrator of the angle increment and speed increment generator includes a two angle integration circuit, which receives and integrates from the The amplified X, γ, and z-axis angular rate analog signals of the angle amplifier circuit form an accumulated χ, γ, and z-axis angular incremental signals, and the acceleration integrator of the angular and speed increment generators includes acceleration The integration circuit 'receives and integrates the amplified X, Y, and z-axis acceleration analog signals from the acceleration amplifier circuit to form an accumulated x, γ, and z-axis speed incremental signals. 3 5. The self-carrying positioning system of the carrier as described in the patent application range 34, wherein the said angular increment and velocity increment generator further includes an angular amplifier circuit for amplifying the X, Y, and Z axis angular rate analog voltages. Signals to form amplified X, Y, and Z axis angular rate analog signals, and an acceleration amplifier circuit for amplifying X, Y, and Z axis acceleration analog voltage signals to form amplified X, Y, and Z axis acceleration analog signals . 36. The carrier self-contained positioning system according to claim 35, wherein the angle integrator of the angle increment and speed increment generator includes an angle integration circuit that receives and integrates the angle from the angle amplifier circuit. The amplified X, Y, and Z axis angular rate analog signals form accumulated X, Y, and Z axis angular increments 1 ^ · Page 102 486576 6. Patent application range signals, the angular increment and velocity increment are generated The accelerometer integrator includes an acceleration integration circuit that receives and integrates the amplified X, γ, and z-axis acceleration analog signals from the acceleration amplifier circuit to form accumulated χ, γ, and z-axis speed incremental signals. 37. The carrier self-contained positioning system according to claim 36, wherein the analog / digital converter of the angular increment and speed increment generator further comprises an angular analog / digital converter and a speed analog / digital converter. A pre-converter and a round input / output interface circuit, wherein the angular increment accumulated from the angular integration circuit and the accumulated speed increment from the acceleration integration circuit are output to the angular analog / digital converter, respectively. And speed analog / digital converter, the accumulated angular increment is measured by the angular analog / digital converter 'by using the angle reset voltage signal to measure the accumulated angular increment to form an angular increment count value as a digital angle A form of incremental voltage, the angular increment count value is output to the input / output interface circuit to form a digital X,: Y, and z-axis angular incremental voltage value, and the accumulated speed increment is determined by the Speed analog / digital converter that measures the accumulated speed increment by using the speed reset voltage signal to form the speed increment count value as a form of digital speed increment voltage The velocity increment the count value is output to the wheel u / output interface circuit, so as to form a digital χ, γ, z-axis voltage value by velocity increment. 38. The carrier self-carrying positioning system according to claim 3, wherein the thermal processor includes an analog / digital converter connected to the heat sensitive generator, and a digital device connected to the heater. / Analog converter and temperature control connected to said analog / digital converter and digital / analog converter Page 103 486576 VI. Patent application controller "wherein" the analog / digital converter inputs the temperature and voltage signal generated by the thermal sensitive generator, and the analog / digital converter samples the temperature and voltage signal and digitizes the Voltage signal, and output the digital temperature signal to the temperature controller, the temperature controller uses the digital temperature voltage signal from the analog / digital converter, a temperature calibration coefficient, and the predetermined angular rate generator and acceleration generation To calculate the working temperature of the device, and send the digital temperature control instruction to the digital / analog converter. The digital / analog converter converts the digital temperature control instruction from the digital temperature controller into An analog signal, and output the analog signal to the heater in order to generate appropriate heat to ensure the operating temperature of the predetermined small inertial measurement component of the IMU. 39. The carrier self-contained positioning system according to claim 38, wherein the thermal processor further comprises: a first amplifier circuit connected between the thermal sensor and the digital / analog converter, wherein, The voltage signal obtained from the thermal sensor generator is input to the first amplifier / amplifier circuit to amplify and suppress the noise in the voltage signal through the signal's signal-to-noise ratio, and the amplified voltage signal is input to the analog / digital converter; A second amplifier circuit connected between the digital / analog converter and the heater, and used to amplify the wheel-in analog signal from the digital / analog converter to the heater. '40. The carrier self-contained positioning system according to claim 39, wherein said thermal processor further comprises an input / output circuit, which is connected to said analog-to-digital converter and digital-to-digital converter and temperature controller. Of Page 104 486576 6. The scope of the patent application where 'the voltage signal is sampled through the analog / digital converter' and the sampled signal is digitized, and then the digital signal is output to the input / output interface circuit, the temperature controller, Using the digital temperature voltage signal from the analog / digital converter of the input / output interface circuit, the temperature calibration coefficient, and the predetermined / 3BL degree of the above-mentioned angular rate generator and acceleration generator 'to calculate different digital temperature control instructions, The digital temperature control instruction is fed back to the input / output interface circuit. The digital / analog converter converts the digital temperature control instruction from the input / output interface circuit into an analog signal, and outputs the analog signal to the heater. In order to generate appropriate heat to ensure a predetermined operating temperature of the small inertial measurement component. 41. The carrier self-carrying positioning system according to claim 25, wherein the first small circuit board, the second circuit board, the third circuit board, and the control unit are arranged in a box. Circuit board, where the first circuit board is connected to the third circuit board and generates X-axis angular rate sensitive signals and Y-axis acceleration sensitivity signals to the control circuit board, and the second circuit board is connected to the third circuit board to generate Y-axis angular rates Sensitive signals and X-axis acceleration-sensitive signals are sent to the control circuit board. The third circuit board is connected to the control circuit board to generate Z-axis angular rate-sensitive signals and Z-axis acceleration-sensitive signals to the control circuit board. The control circuit board communicates with the third circuit board through The first circuit board and the second circuit board are connected to process the X, γ, and z axis angular rate sensitive signals and the χ, γ, and Z axis acceleration sensitive signals from the first circuit board, the second circuit board, and the third circuit board, so that Produces digital angular increments, speed increments, position, speed, attitude, and heading measurements. Page 105, Application Special ~ ^ ~ ----- ^ · As the carrier self-carrying positioning system described in the patent application scope 41, the said angular rate generator includes:, X axis connected to the first circuit board The vibration-type angular rate detection unit is a front-end circuit; a gamma-axis vibration-type angular rate detection unit and a second front-end circuit connected to a second circuit board; a z-axis vibration-type angular rate detection unit connected to a third circuit board And a third front-end circuit; one or three angular signal loop circuits, which are respectively provided for the first circuit board, the first circuit board, and the second circuit board, and are connected to the control circuit board; = A vibration control circuit, which is provided for the first circuit board, the second circuit board, and the third circuit board, and is included in the control circuit board; ~ the vibrator is used for the X-axis vibration type angular rate detection unit , Γ-axis vibration f angular rate detection unit, Z-axis vibration-type angular rate detection unit, angular signal loop circuit and vibration control circuit provide reference pickup signals; two vibration processing modules, namely the first circuit board and the second circuit board The second circuit board is provided and connected to the control circuit board. 43. The carrier self-contained positioning system according to claim 42, wherein the above-mentioned acceleration generator includes: an X-axis accelerometer, which is located on the second circuit board and controls the angular increment and the speed increment of the circuit board Generator connected A Y-axis accelerometer, which is located on the first circuit board and connected to the angular increment and speed increment generator of the control circuit board; a Z-axis accelerometer, which is located on the third circuit board and connected to the control circuit P.106 486576 VI. Scope of patent application ~ ^^^-The angle increase and speed increase generator of the board are connected. 44. The first front-end circuit, the second front-end circuit, and the third front-end circuit described in the carrier self-contained positioning system described in the patent application range 43 are used for the X-, Y-, and Z-axis vibration-type angular rate detection. The output signal of the unit, the female-front-end circuit includes: a resistance conversion amplifier circuit, connected to the corresponding X, Z axis vibration =: rate detection unit, used to change the impedance of the vibration motion signal from a very local level, Greater than 100 megaohms, converted to low impedance less than ⑽ohms 'in order to obtain two vibration displacements W1M α ^ which are signals representing the inertial mass and the alternating current signal' $ two vibration displacement signals are input to the vibration control circuit; , High-pass filter circuits, respectively connected to the corresponding χ, γ, and ζ-axis vibration 51 f rate detection units, and divide the residual vibration drive signal and noise in the vibration displacement difference _ number by m to form an over-shift U signal to the angular signal loop Circuit person. The difference in cross-motion displacement is 42: The self-carrying positioning system of the carrier as described in If Fork 7 range 44, which includes at least one pile, is the measured inertial mass of the vibrating device and the set of vibrations? Block, self-expansion smoke; Li Ying's wide structure and device #, such as capacitive signal readers; 'Clio fs effect to detect the angular rate of the carrier, using a 0 rate unit to receive the corresponding vibration signal In order to maintain the vibration of the inertial mass and the drive load: the disk signal, including the capacitive readout excitation signal, the ζ-axis vibration type angular rate detection unit, and, χ, VI, the scope of the patent application _____ =) of the detection carrier The χ, γ, and z-axis angular rates bu include the rotation caused by the outgoing angular rate modulated on the carrier reference _. This signal is output to the first, ... a previous angular velocity displacement signal i, the letter d = The vibration signal contains a vibration displacement pathfinder. ^ The high-pass wave generators in the first, second, and third front-end circuits are used in the 4th, 6th, and 4th! The carrier self-carrying positioning system described in the scope 45, its shape angle, # ίζ vibration control circuit respectively Receive the vibration displacement ㈣ from the inertial mass of the dn! Unit from the χ, γ, and ζ axes, and the 士-士 from position 2, pick the signal to generate a known phase of the inertial mass, number #, each A vibration control circuit contains ... ^ An amplifier and adder circuit, connected to the impedance conversion amplifier circuits of the first, second, and third front-end circuits, amplifies the two-way vibration displacement signals by more than ten times to improve sensitivity. By combining the signal of the center anchor comb with the side anchor榇 · 彳. Subtraction 'to combine two vibration displacement signals to form a vibration displacement differential signal; a high-pass filter circuit connected to the amplifier and adder circuit to remove residual vibration drive signals and noise from the vibration displacement differential signal' Differential vibration displacement signal after generation; A demodulator circuit is connected to the high-pass filter circuit to detect the excitation signal from the capacitor as a phase reference signal, receive the filtered vibration displacement differential signal from the high-pass filter, and extract the filtered vibration signal. Shift the in-phase portion of the differential signal to generate a displacement signal of an inertial mass of known phase; Page 108 486576 I " " '" ~ I --- ------- VI. Patent application scope ^ a solid low-pass filter' is connected to the demodulator circuit to remove the inertial mass from the input Remove the south frequency noise in the block displacement theory to form a low frequency inertial mass block displacement signal. An analog / digital converter connected to a low-pass filter is used to convert the analog low frequency inertial mass block displacement signal into a digital low frequency inertial mass block displacement signal. The mass block displacement signal is output to the vibration processing module; a digital-to-analog converter processes the amplitude of the signal selected from the vibration processing module to form a vibration drive signal with the correct amplitude; ° an amplifier based on the correct Frequency and amplitude vibration drive signals are those that generate and amplify vibration drive signals for the X, Υ, and ζ-axis vibration-type angular rate detection units. 47. As in the application college, the vibration of the X and Υ blocks is usually the number of the vibration-digital converter, which is used to search the frequency and lock the high-frequency sine letter of the amplitude so as to make the inertial mass 48. The vibration change (Fast Four The self-carrying positioning system of the carrier according to the scope of benefit 46, wherein the inertial mass in the Z-axis vibration-type angular rate detection unit is driven by a high-frequency sinusoidal signal with a precise amplitude, and the dynamic processing module receives the vibration control circuit. Analog / known phase digital low frequency inertial mass block displacement signal with the highest quality factor (Q) value of the frequency, locks the degree, generates vibration drive signals, including accurate amplitude numbers, gives X, Y, and Z axis vibrational angular rates The detection unit is one in which the gauge block vibrates at a predetermined resonance frequency. The carrier self-carrying positioning system described in the profit scope 47, the processing module further includes a discrete fast Fourier transform (FFT) module, a frequency field rate and amplitude Page 109 6. The scope of patent application '~~ ------, data storage array module, a maximum value detection logic module and a threshold value analysis and selection logic module in order to find the frequency with the maximum Q value, Health J J < Discrete fast Fourier transform module is used to transform the digitized low-frequency inertial mass block displacement number k 'from the analog-to-digital converter of the vibration motion control f-path to form the frequency of the input inertial mass block displacement signal Amplitude data ·, Frequency and amplitude data storage array module, receiving amplitude and spectrum data to form a false amplitude and spectrum data array; and a maximum detection logic module that divides the spectrum of the spectrum data array from the amplitude and spectrum data array For some frequency bands, and select the frequency with the largest amplitude from the local frequency band; Q value analysis and selection of logical mode edge, and q value analysis on the selected frequency. 'By calculating the ratio of the amplitude and the frequency band width, select the frequency and the amplitude.' Between the plus and minus half. 49. A carrier self-contained positioning method, comprising: (a) using an inertial measurement component, the sensitive carrier motion generates a digital angular increment and a speed increment corresponding to the carrier motion; (b) using a north seeker's sensitive earth Magnetic field to measure the heading angle of the carrier; (c) using a speed generator to measure the relative speed of the carrier relative to the carrier on which it is moving, and (d) using digital angular and speed incremental signals, heading angle, user Page 110 6 'Application for patent scope 2 For the relative speed of the transportation surface, obtain position data in the combined processor 50. The self-carrying positioning method of the carrier as described in application patent scope 49, the step (d) of which is further Including: Measure (d · 〇 Calculate inertial position using digital angular increment and speed increment signals (d.2) Calculate heading angle using geomagnetic field measurement; (d · 3) Use relative velocity of the user relative to the ground for Kajiang The sensor generates a relative position error measurement in the odometer processing module; w wave g (^ · 4) uses the user's relative speed with respect to the water surface to generate a Kalman filter for the Kalman filter. Measurements; (d · 5) The Kalman filter calculation method is used to estimate the position of the measuring pen, and only the workmanship and setting errors are used to correct the inertial positioning of the surveyor. Carry the carrier as described in the scope of patent application 49 Positioning method, which further includes a first additional processing step after said step (d), who exchanges the obtained position information with other users through a wireless communication device. Please refer to the self-carrying positioning method of the carrier as described in the patent scope 50, wherein the step (d) further includes a first additional processing step 'pass-through wireless communication device and other users' obtained location information. 53. The method of self-carrying positioning of a carrier as described in the scope of application patent 49, further comprising 'additional processing steps, displaying the position of the carrier on the map' and accessing the map database by using position information to display the surrounding environment Page 111 486 576 --- - ^ -------- Six, the scope of patent information environment. 5 4 · The self-carrying positioning method for a carrier as described in the scope of patent application 50, further comprising an additional spotting step of 'displaying the position of the carrier on the map, and accessing the map database by using position information to display the surrounding environment Informant. 5 5. The self-carrying positioning method for a carrier according to the scope of application for patent 51, further comprising an additional processing step, displaying the position of the carrier on a map, and accessing the map database by using position information to display the surrounding environment Informant. 5 6 · The self-carrying positioning method for a carrier as described in the scope of patent application 52, further comprising an additional processing step, displaying the position of the carrier on a map, and displaying the surrounding environment information by using the location information to access the map database By. 57. The carrier self-carrying positioning method as described in Shenqing Patent Scope 49, wherein step 5 (dl) further includes the following steps: (d · 1.1) The increment of the integration angle is attitude data, which is called attitude integration processing; (d · 1 · 2) Use the attitude data to transform the measured speed increment to an appropriate navigation coordinate system, in which the converted speed increment integral to speed is called speed integration processing; and (d · 1 · 3) The speed data of the integral navigation system is position data and is called a position integral processor. 58. The carrier self-carrying positioning method according to claim 49, wherein step d. (D.5) further includes the following steps: Page 112 486576 VI. Scope of patent application ^----(d · 5 · 1) Perform a motion test to determine whether the carrier is stopped in order to start zero speed correction; (d · 5 · 2) The carrier motion state of the step forms a measurement and a time-varying matrix; and (d · 5 · 3) obtains an optimal estimator of the ijju position error through a Kalman filter. 5 9 · The self-carrying positioning method of a carrier as described in the scope of patent application 5 7, wherein step (d · 5) further includes the following steps ·· Eight (d · 5 · 1) Perform a motion test to determine whether the carrier is Stop to start zero-speed correction; (d · 5.2) Form measurement and time-varying matrices based on the motion state of the carrier from the motion measurement step; and (d.5.3) obtain the Mu position error by the Kalman chirp The best estimator. 60. The method of self-carrying positioning of a carrier as described in the scope of application patent 49, wherein step (D.3) further includes the following steps: (d.3.1) converting an input speed in the body coordinate system into an expression Speed in the navigation system; (d · 3.2) Comparing the transformed speed with the speed obtained by the IMU to obtain the speed difference; (d. 3 · 3) Integrating the speed within a predetermined period of time Speed difference. 6 1 · The self-carrying positioning method for a carrier as described in the scope of patent application 5, wherein the step pants (d.3) further includes the following steps: (d.3.1) Converting an input speed in the body coordinate system to expression Page 113 486576 6. The speed of the patent application scope is in the navigation coordinate system; C d · 3 · 2) The speed difference obtained from the transformed aberration and I mu is compared with the vehicle speed to obtain the speed difference; (d .3.3) Integrate the speed difference within a predetermined period of time. 62. The self-carrying positioning method of a carrier as described in the scope of patent application 58, wherein step (d · 3) further includes the following steps: (d.3.1) converting an input speed in the body coordinate system into an expression The speed in the navigation coordinate system; (d.3.2) comparing the transformed speed with the speed obtained by the IMU to obtain a speed difference; (d · 3 · 3) integrating the speed within a predetermined period of time Poor. 63. The method of self-carrying positioning of a carrier as described in patent application range 59, wherein step (d.3) further includes the following steps: (d.3.1) converting an input speed in the body coordinate system into an expression in navigation The speed of the coordinate system; (d · 3 · 2) comparing the transformed speed with the speed obtained by the IMU to obtain a speed difference; (d.3.3) integrating the speed difference within a predetermined period of time . 64. The self-carrying positioning method for a carrier according to claim 49, wherein the speed generator is an odometer when the transportation surface is the ground. 65. The carrier self-carrying positioning method according to claim 63, wherein the speed generator is an odometer when the transportation surface is the ground. 6 6. The self-carrying positioning method of the carrier according to the scope of application patent 49, wherein the speed generator is a flow meter when the transportation surface is a water surface 486576 6. Those applying for a patent scope 0 6 7. 68. In step S20, the self-carrying positioning method for a carrier as described in the patent application 63, wherein the speed generator is a flow meter when the transportation surface is a water surface. According to the method of self-carrying positioning of a carrier as described in the scope of application patent 63, 1 after the step (d) further includes a first additional cattle, obtained through exchange with a wireless communication device with other users: confidence 6 9 · 如The self-contained carrier of the carrier described in patent scope 63, further, includes an additional processing step, which is placed on map 2 and uses the location information to access the map data to praise the position information of the inferior body. By. The surrounding ring 70 is displayed. As described in the patent claim 68, the carrier self-tapping positioning method 1 further includes an additional processing step on the map-,,, and, and accesses the map data by using position information. Location information of the carrier. Alas, displaying the surrounding ring 71. The carrier self-positioning as described in the scope of application patent 63, further includes a second additional processing step at the location of map 2 and accesses the map data by using location information Environmental informants. Drought, display surroundings 72. The carrier self-contained set up +, described in the patent application range 67, further includes a second additional processing step, /, the position of the body on the long map, and access by using position information Information on the surrounding environment. · Library 'display 73 · The carrier self-contained private +,' bit method described in the patent application range 68, which Page 115 486576 6. The scope of patent application further includes a second additional processing step, displaying the location of the carrier on the map, and displaying the surrounding environment information by using the location information to access the map database. 74. The self-carrying positioning method for a carrier as described in the scope of application patent 69, further comprising a second additional processing step, displaying the position of the carrier on the map, and displaying the surrounding environment information by using the location information to access the map database . 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