Vehicle-mounted inertial navigation system

Abstract

The invention relates to a vehicle-mounted inertial navigation system. According to the system, GPS / DR / MM technologies are combined for vehicle-mounted inertial navigation, vehicle speed pulse signals do not need to be collected, information is directly read through a CAN bus of a vehicle sound port, and vehicle refitting is avoided. The system comprises a main processor MCU, a gyroscope, a GPS and a map, dynamic compensation is adopted for gyroscope zero offset errors, an HDR algorithm is adopted for random drift errors for compensation, the system does not only depend on data basis that inertial navigation is achieved by reading vehicle body information, GPS positioning information and DR system positioning information are further corrected through the map matching technology, and therefore overall vehicle safety and navigation positioning reliability are improved.

Description

technical field [0001] The invention relates to a vehicle navigation and vehicle tracking system, in particular to a vehicle inertial navigation system. Background technique [0002] At present, the global position system (GPS) technology has been applied in car navigation and vehicle tracking systems. However, in some environments such as tunnels, indoors and underground parking lots, the strength of GPS information is so low that GPS receivers basically cannot receive satellite data and thus cannot output position information. An existing solution is to use an on-board navigation system with inertial navigation. [0003] The utility model patent with the authorized announcement number CN202229766U discloses a sensor-based inertial navigation system, which combines inertial navigation technology with GPS technology, including a main control module, a GPS receiving module, a CAN bus control module, a gyroscope sensor, and a speed pulse sensor , tire speed difference sensor...

AI Technical Summary

Problems solved by technology

[0004] However, the above-mentioned inertial navigation system needs to obtain the information of the vehicle body, which inevitably requires the modification of the vehicle, which increases the difficulty of modification and destroys the interface of the original vehicle, resulting in the risk of spontaneous combustion and legal disputes risks of

In addition, due to the use of the speedometer on the vehicle, this will lead to certain errors. At the same time, due to different tire inflation levels and different loads, changes in vehicle speed, tire wear, and road conditions, the vehicle will skid and bounce and the vehicle will turn. The error of measuring the distance, in addition, there is also an error drift in the angular rate gyro, which accumulates over time, which seriously affects the reliability of navigation and positioning

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