System for measuring inertial navigation by using big dipper and method for installing included angle by tachymeter
An inertial navigation system and a technology for an integrated navigation system, applied in the field of integrated navigation, can solve the problems that GPS signals cannot be blocked, it is difficult to use an inertial navigation system, and navigation errors accumulate.
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[0078] The technical key points of the present invention are: ① establish the relationship model between the installation angle error and the distance incremental error of the speedometer, and accurately model the observation matrix; ② calculate the carrier position increment according to the speed output of the Beidou receiver, and use The observation value is used to construct the integrated navigation system; ③A closed-loop feedback update method is used to realize the fast and accurate estimation of the installation angle between the inertial navigation system and the speedometer.
[0079] A method for measuring the installation angle between an inertial navigation system and a speedometer by using Beidou. The inertial navigation system is installed in the vehicle compartment, the Beidou receiver is installed on the roof of the vehicle, the speedometer is connected to the drive wheel bearing through a flexible shaft, and the inertial navigation system After the initial alig...
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