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Closed-loop Kalman filter inertial positioning method based on zero velocity update

A Kalman filter, Kalman filter technology, applied in the field of measurement, can solve the problem that error estimation cannot be realized

Inactive Publication Date: 2014-11-05
LIAONING TECHNICAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The inertial navigation system using a single working mode has no external information to provide reference for it, which makes it impossible to use Kalman to achieve error estimation. In view of the above problems, the patent of the present invention proposes a method that uses the speed information in the static state of the carrier as the real speed reference. , to complete the Kalman filter combined solution to achieve high-precision inertial positioning

Method used

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  • Closed-loop Kalman filter inertial positioning method based on zero velocity update
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  • Closed-loop Kalman filter inertial positioning method based on zero velocity update

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Embodiment Construction

[0053] The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0054] (1) Utilize the global positioning system GPS to determine the initial position parameters of the carrier, and bind them into the navigation computer;

[0055] (2) The system prepares for warm-up, collects the data output by the gyroscope and the accelerometer and processes the data;

[0056] (3) Initial alignment of the inertial navigation system;

[0057] According to the output of the accelerometer, the horizontal alignment can be completed, and the initial pitch angle and roll angle can be calculated from the output of the accelerometer. The calculation formula is as follows:

[0058] θ = arcsin ( f x / ...

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Abstract

The invention provides a closed-loop Kalman filter inertial positioning method based on zero velocity update. The method comprises: determining an initial position parameter of a carrier through GPS, and binding into a navigational computer; performing preheating preparation on an inertial navigation system, and acquiring data output by a gyroscope and an accelerometer and processing the data; utilizing the sensitive weight component of a horizontal accelerometer to determine the horizontal attitude angle of the carrier; determining the motion state of the carrier according to accelerated velocity and variance at each discrete moment output by the inertial navigation system; when the carrier is at a static state, employing closed-loop Kalman filter to realize correction on resolution error of the navigation system; and employing location update arithmetic of a rectangular coordinate system to finish high-precision positioning of the carrier.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a closed-loop Kalman filter inertial positioning method based on zero-speed correction. (2) Background technology [0002] The inertial navigation system uses inertial components to measure the acceleration of the vehicle itself, and obtains the speed and position through integration and calculation, so as to achieve the purpose of navigation and positioning of the vehicle. The equipment that makes up the inertial navigation system is installed in the carrier. It does not rely on external information, does not radiate energy to the outside world, and is not easily disturbed. It is an autonomous navigation system. [0003] However, the unavoidable problem is that the inertial components in the inertial navigation system are composed of gyroscopes and accelerometers, and the gyroscopes and accelerometers have their own inevitable error factors, which leads to the speed and position infor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20G01C25/005
Inventor 孙伟
Owner LIAONING TECHNICAL UNIVERSITY
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