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Navigation attitude method for vehicle-mounted azimuth open-loop horizontal attitude angle closed loop

A horizontal attitude and closed-loop technology, applied in the field of unmanned driving system research, can solve problems such as misjudgment of navigation actuators and attitude errors, and achieve the effect of eliminating errors and improving navigation accuracy

Inactive Publication Date: 2020-03-06
湖南率为控制科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The occurrence of this vibration will bring a certain attitude error to the integrated navigation system, and finally bring wrong judgment to the navigation actuator.

Method used

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  • Navigation attitude method for vehicle-mounted azimuth open-loop horizontal attitude angle closed loop
  • Navigation attitude method for vehicle-mounted azimuth open-loop horizontal attitude angle closed loop
  • Navigation attitude method for vehicle-mounted azimuth open-loop horizontal attitude angle closed loop

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Embodiment Construction

[0053] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0054] Such as Figure 1-2 As shown, the embodiment of the present invention provides a heading attitude method for open-loop horizontal attitude angle closed-loop vehicle-mounted azimuth, including:

[0055] S1. Obtain the navigation parameters and navigation parameter errors of the vehicle through the GPS / INS integrated navigation system, and the navigation parameters include the attitude, speed and position of the vehicle;

[0...

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Abstract

The invention relates to a navigation attitude method for a vehicle-mounted azimuth open-loop horizontal attitude angle closed loop. The method comprises the steps of: obtaining navigation parametersand navigation parameter errors of a vehicle through a GPS / INS integrated navigation system, wherein the navigation parameters comprise the attitude, the speed and the position of the vehicle; selecting one Kalman filtering mode of open-loop Kalman filtering and closed-loop Kalman filtering according to a preset threshold speed; and substituting the navigation parameters and the navigation parameter errors obtained by the GPS / INS integrated navigation system into the selected Kalman filtering mode to perform navigation calculation, outputting a navigation result, and performing navigation calculation on the GPS / INS integrated navigation system through Kalman filtering by adopting the method, so that azimuth angle small-amplitude oscillation of an unmanned navigation system during static orquasi-static or low-speed advancing is eliminated, and the navigation precision of the unmanned navigation system is improved.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving system research, and more specifically relates to a heading attitude method for vehicle-mounted azimuth open-loop horizontal attitude angle closed-loop. Background technique [0002] In recent years, unmanned vehicles have received widespread attention, providing a new solution for the convenience of transportation. Unmanned vehicle is a high-tech carrier with computer control technology as the core, integrating automatic control, architecture, artificial intelligence, visual computing and many other technologies. Studies have shown that based on the understanding and accurate modeling of vehicle system characteristics, the designed unmanned driving system can improve vehicle safety, fuel economy, driving comfort, and travel efficiency in the human-vehicle-road closed loop. Research on unmanned driving systems at home and abroad is mostly derived from the field of micro-wheeled m...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/49G01S19/53
CPCG01C21/165G01S19/49G01S19/53
Inventor 陈冬芳
Owner 湖南率为控制科技有限公司
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