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A Zero Speed ​​Correction Method for Inertial Navigation System Used in Surveying and Mapping Vehicles

An inertial navigation system and zero-speed correction technology, applied in the inertial field, can solve problems such as reducing the accuracy of inertial navigation error estimation, achieve the effects of improving the signal-to-noise ratio of measurement information, overcoming calculation errors, and improving accuracy and reliability

Active Publication Date: 2016-11-30
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0004] The technical problem to be solved in the present invention is: in the prior art, the speed matching zero-speed correction method with speed error as the observed quantity is easily affected by the speed of external disturbance, which reduces the accuracy of inertial navigation error estimation

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  • A Zero Speed ​​Correction Method for Inertial Navigation System Used in Surveying and Mapping Vehicles
  • A Zero Speed ​​Correction Method for Inertial Navigation System Used in Surveying and Mapping Vehicles
  • A Zero Speed ​​Correction Method for Inertial Navigation System Used in Surveying and Mapping Vehicles

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Embodiment Construction

[0133] The zero-speed correction method of the inertial navigation system for surveying and mapping vehicles of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0134] The coordinate system adopted by the inertial navigation system zero-speed correction method of the surveying and mapping vehicle of the present invention is defined as follows:

[0135] n: navigation coordinate system (oxyz), Beitiandong geographical coordinate system, x-axis refers to north, y-axis refers to sky, z-axis refers to east;

[0136] n': calculate the navigation coordinate system (o'x'y'z'), the x' axis points to the north, the y' axis points to the sky, and the z' axis points to the east;

[0137] b: Inertial navigation carrier system (o″x″y″z″), coincides with the gyroscope coordinate system, the front upper right coordinate system, the x″ axis points forward, the y″ axis points up, and the z″ axis points to the right.

[013...

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Abstract

The invention belongs to the technical field of inertia, and in particular relates to a zero-speed correction method of an inertial navigation system for a surveying and mapping vehicle. The invention includes the following steps: initializing filter parameters; discretizing inertial navigation and filter state transition matrix; calculating velocity integral observation and measurement matrix; UD decomposing Kalman filtering time update calculation; sending zero-speed correction application; UD decomposing Kalman Filter measurement update; inertial navigation system error correction; repeat the above steps until the positioning and orientation system is finished. The technical problem to be solved in the present invention is: the speed matching zero-speed correction method in the prior art, which takes the speed error as the observed quantity, is easily affected by the speed of external disturbance, which reduces the estimation accuracy of the inertial navigation error. The present invention realizes effective filtering and smoothing of measurement speed noise, reduces the influence of interference speed, improves filtering calculation accuracy and filtering work stability, overcomes the singularity problem caused by the calculation error of estimated variance matrix, and thus improves zero-speed Corrected accuracy and reliability.

Description

technical field [0001] The invention belongs to the technical field of inertia, and in particular relates to a zero-speed correction method of an inertial navigation system for a surveying and mapping vehicle. Background technique [0002] At present, the typical working mode of land-use positioning and orientation system is inertial navigation / odometer integrated navigation, which is compatible with zero-speed correction and obtains high autonomous positioning and orientation accuracy. Among them, zero-speed correction is a method commonly used in autonomous positioning and orientation systems for surveying and mapping. The error of the inertial navigation system is corrected by intermittently stopping the vehicle for a short time, so as to achieve high-precision positioning of the inertial navigation system and has complete autonomy. [0003] The main methods of zero-speed correction are curve fitting method and Kalman filter method. Because the curve fitting method ignor...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/26
Inventor 吴亮华蔡善军李群姜述明马二杰石志兴练涛
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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