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An inertial/odometer/rtk multi-information fusion method

A multi-information fusion and odometer technology, which is applied in the field of information fusion of integrated navigation systems, can solve the problems of improving the heading angle, error observability, position, attitude measurement accuracy, and the influence of gyro drift in the sky, so as to improve the position and heading The effect of precision

Active Publication Date: 2021-05-11
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0007] The purpose of the present invention is to provide a kind of inertial / odometer / RTK multi-information fusion method, it can solve the low observability degree of heading angle error for inertial / odometer combination, simple line motion is difficult to improve the observability degree of heading angle error, However, in the application field of railway surveying and mapping, it is difficult to improve the observability of the heading angle error through turning maneuvers, resulting in the problem that the accuracy of position and attitude measurement is seriously affected by the drift of the gyroscope.

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  • An inertial/odometer/rtk multi-information fusion method
  • An inertial/odometer/rtk multi-information fusion method
  • An inertial/odometer/rtk multi-information fusion method

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Embodiment Construction

[0075] The present invention is described in detail below in conjunction with specific embodiment:

[0076] An inertial / odometer / RTK multi-information fusion method proposed by the present invention first performs inertial / odometer combined navigation Kalman filter calculation, uses the odometer high-precision speed measurement information to suppress the influence of horizontal gyro drift and accelerometer zero position, and then passes Inertial / odometer / RTK multi-information fusion suppresses the influence of gyro drift in the sky and improves the accuracy of heading measurement.

[0077] Specifically include the following steps:

[0078] Step 1: Inertial / Odometer Integrated Navigation

[0079] 1) Equation of state

[0080] Inertial / mileage integrated navigation Kalman filter selects 21-dimensional state variables:

[0081]

[0082] In the formula, δV N , δV U , δV E Indicates the northward, celestial and eastward speed errors of the inertial navigation system, φ N...

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Abstract

The invention discloses an inertial / odometer / RTK multi-information fusion method. Aiming at the problem of poor observability of the inertial / odometer combined course, the inertial / RTK data processing results are weighted and fused by using forward and reverse RTS smoothing methods. Substituting the fused optimal heading estimation result for the inertial / odometer integrated navigation Kalman filter estimation result at the corresponding moment for attitude correction can improve the heading accuracy of the inertial / odometer integrated navigation, thereby improving the position and attitude measurement accuracy of the integrated navigation system .

Description

technical field [0001] The invention belongs to an information fusion method of an integrated navigation system, and in particular relates to a multi-information fusion method for inertia / odometer / satellite. Background technique [0002] The basic principle of multi-information fusion is to make full use of multiple sensor resources, through the rational control and use of the information of each sensor, the redundant or complementary information of multiple sensors in space and time is fused according to a certain criterion, so as to Obtain superior performance than each component subsystem. Based on the physical model of the system and the noise statistical characteristics of the sensor, the multi-information fusion of the integrated navigation system maps the measurement data to the state space, establishes the system state equation and measurement equation according to the carrier motion law, and obtains the system state variables through a certain estimation algorithm. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 邓继权郭玉胜王海军艾赢涛马小艳张吉先莫明岗
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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