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Vehicle-mounted integrated navigation method of resisting to failure of global positioning system

An integrated navigation and gyroscope technology, applied in the field of anti-GPS failure vehicle integrated navigation, can solve the problems of deteriorating calculation accuracy and achieve the effects of improving usability, reducing data dispersion, and improving estimation accuracy

Inactive Publication Date: 2014-08-13
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The calculation principle is based on the integral operation of the two-dimensional plane, and the measurement error is also integrated synchronously with time. In the absence of other correction information, the calculation accuracy will inevitably deteriorate over time.

Method used

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  • Vehicle-mounted integrated navigation method of resisting to failure of global positioning system
  • Vehicle-mounted integrated navigation method of resisting to failure of global positioning system
  • Vehicle-mounted integrated navigation method of resisting to failure of global positioning system

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Embodiment Construction

[0016] Such as figure 1 Shown, concrete method of the present invention is as follows:

[0017] (1) Estimate the gyro bias error by using static data: establish a state equation with the gyro bias error as the state variable, use the latest stop state data, and use weighted filtering technology to estimate the gyro bias error in real time.

[0018] When the velocity v=0, let the gyroscope measure the heading angular velocity sequence ω(i) to carry out the shift assignment,

[0019] ω(1)=ω(2)

[0020] ω(2)=ω(3)

[0021] ω(3)=ω(4), where ω is the latest measured value of the gyroscope.

[0022]  …

[0023] ω(n-1)=ω(n)

[0024] ω(n)=ω

[0025] After weighted filtering, the gyroscope zero bias error b is obtained.

[0026] b = Σ j = 1 n j Σ i = 1...

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Abstract

The invention provides a vehicle-mounted integrated navigation method of resisting to failure of a global positioning system, and relates to a GPS-failure-resisting integrated navigation method suitable for a vehicle-mounted low-cost integrated navigation system. The vehicle-mounted integrated navigation method of resisting to failure of the GPS comprises the following steps that firstly, relative time delay of measurement data of different types of sensors is estimated with the dynamic convolution correlation method, and output data of three types of sensors which are the GPS, a gyroscope and the speed sensor are corrected according to the relative time delay; secondly, outliers of original data of the three types of sensors are removed through an outlier-removing innovation orthogonality sliding window average filter, and the discrete degree of the data is reduced; thirdly, error coefficients of the gyroscope and the speed sensor are estimated online in real time in the effective status of the GPS, and compensation for the error coefficients is conducted; fourthly, when failure of the GPS occurs, the recursive algorithm is started and the position information and course information are given. According to the vehicle-mounted integrated navigation method of resisting to failure of the GPS, the problem that error drifting of the vehicle-mounted low-cost gyroscope and the speed sensor is rapid is solved, position and course accuracy is improved obviously, and the vehicle-mounted integrated navigation method of resisting to failure of the GPS can be used for various vehicle-mounted navigation systems comprising GPSs, gyroscopes and speed sensors.

Description

technical field [0001] The invention relates to an anti-GPS (Global Positioning System) failure-resistant integrated navigation method suitable for a vehicle-mounted low-cost integrated navigation system, which eliminates gyro errors from three aspects, solves the problem of fast drift of vehicle-mounted low-cost gyro errors, and significantly improves GPS failure time. The position and heading accuracy of the gyro and speed sensor integrated navigation can improve the usability of the low-cost integrated navigation system in the vehicle under the condition of GPS failure. The invention can be used in any vehicle navigation system including GPS, gyroscope and speed sensor. Background technique [0002] In order to improve driving efficiency, safety and economy, low-cost vehicle integrated navigation systems are more and more commonly installed in various vehicles. As the main navigation device, GPS has played a very significant role in the low-cost vehicle navigation system...

Claims

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Application Information

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IPC IPC(8): G01S19/49G01C21/06
CPCG01S19/49G01C21/165
Inventor 盛蔚孙丁圣裴东
Owner BEIHANG UNIV
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