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Positioning and posture determining method and system of mobile object

A technology for moving objects, positioning and determining attitude, applied in the field of inertial navigation, can solve problems such as inapplicability, and achieve the effect of high-precision positioning and attitude determination

Active Publication Date: 2016-06-01
SHENZHEN UNIV
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Problems solved by technology

[0010] The above method is not suitable for positioning in a long linear space such as a subway tunnel

Method used

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  • Positioning and posture determining method and system of mobile object
  • Positioning and posture determining method and system of mobile object
  • Positioning and posture determining method and system of mobile object

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Embodiment Construction

[0045] The invention provides a positioning and attitude determination method and system for a moving object. In order to make the object, technical solution and effect of the present invention more clear and definite, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] see figure 1 , the present invention provides a method for positioning and attitude determination of a mobile object. The method is configured by an inertial measurement unit (ie, an IMU, not shown in the figure), an odometer 30 and a laser radar (LiDAR) 20 arranged in a mobile object 10. The moving object 10 is positioned and pose-fixed. The laser radar 20 is installed on the moving object 10 and scans the measurement control points set in the scene during operation. Measuring th...

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Abstract

The invention discloses a positioning and posture determining method and system of a mobile object. A unified extended kalman filtering model integrating laser radar control target data, inertial measurement unit data and odometer data is constructed through an inertial measurement unit, an odometer and laser radar. The model is built on the basis of a dynamical model and an error model of the inertial measurement unit, the laser radar control target data are introduced into a kalman filtering equation, the error state vector of IMU / odometer combination is calculated, error divergence is limited, and thus high-precision position and posture are obtained; therefore, high-precision positioning and posture determining of the mobile object are achieved without satellite navigation signals.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a method and system for positioning and attitude determination of a moving object. Background technique [0002] In all kinds of mobile measurement systems, attitude determination is one of the core tasks. The positioning and attitude determination system (POS) used in mobile measurement is generally composed of global navigation satellite system (GNSS) and inertial navigation system (INS), which provides position, velocity and Attitude benchmark. The positioning and attitude determination technology based on the combination of global navigation satellite system and inertial navigation system has the following advantages: using high-precision GNSS information, the error parameters such as gyro drift and accelerometer zero bias of the inertial navigation system (INS) can be estimated, thereby suppressing its error from varying Time accumulation; using the characteris...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 李清泉张亮毛庆洲刘勇陈智鹏熊智敏
Owner SHENZHEN UNIV
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