INS/DR & GNSS loosely integrated navigation method based on MEMS inertial component

A navigation method and loosely combined technology, applied in the field of navigation, can solve problems such as deterioration of accuracy and inability to locate

Pending Publication Date: 2020-05-15
SHANGHAI CYGNUS SEMICON CO LTD
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Problems solved by technology

[0005] The purpose of the present invention is to provide a MEMS inertial component-based INS / DR&GNSS loosely combined navigation method to solve the problem that the accuracy of the GNSS receiver in the existing vehicle navigation or monitoring system deteriorates or even cannot be positioned when the signal is blocked or disappears

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  • INS/DR & GNSS loosely integrated navigation method based on MEMS inertial component
  • INS/DR & GNSS loosely integrated navigation method based on MEMS inertial component
  • INS/DR & GNSS loosely integrated navigation method based on MEMS inertial component

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[0068] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0069] The present invention can perform appropriate compensation processing for the characteristics of the sensor, and reasonably plan and design the INS / DR system, and combine the application scene and the characteristics of the inertial system to simplify the system model and noise model of the integrated navigation kalman filter, and can obtain an excellent performance It is of great significance to solve the problem that the positioning accuracy of the traditional GNSS vehicle navigation monitoring system drops sharply in some high-rise buildings, tunnels, underground garages and other environments where the signals are seriously blocked or even disappear.

[0070] The invention discloses an INS / DR&GNSS loosely integrated navigation method based on MEMS inertial components, such as figure 2 shown, consists of the following steps:

[00...

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Abstract

The invention discloses an INS/DR & GNSS loosely integrated navigation method based on an MEMS inertial component. The INS/DR & GNSS loosely integrated navigation method comprises the following steps:establishing a state differential equation by taking a position error, a misalignment angle and gyro zero offset of an INS/DR system and a scale factor of a speedometer as state vectors; establishingan observation equation according to the position information of the GNSS system and the position information of the INS/DR system; enabling the state differential equation and the observation equation to enter a Kalman filter iteration process to calculate a state vector of the INS/DR system; correcting the position, the speed, the attitude angle and the gyro zero offset error of the INS/DR system by using the state vector to obtain corrected position, speed and attitude information. According to the invention, the performance of a navigation-level device is achieved by adopting a consumption-level IMU, and the gyroscope thermally-induced zero offset estimation method can be used for autonomous learning and adaptive compensation in the system operation process without any offline calibration; the installation error estimation algorithm provided by the invention can be used for autonomous estimation, and strict requirements on assembly are not needed any more.

Description

【Technical field】 [0001] The invention belongs to the technical field of navigation, in particular to an INS / DR&GNSS loosely integrated navigation method based on MEMS inertial components. 【Background technique】 [0002] Existing INS / DR systems are mostly designed based on navigation-grade IMU (inertial component) sensors. Compared with consumer-grade MEMS IMUs, navigation-grade IMUs are several orders of magnitude higher in accuracy and expensive, and cannot meet the popularization of mass consumption. Moreover, the INS / DR system of the navigation-level IMU can complete the fine alignment of the strapdown inertial system through the accuracy of the sensor itself, and for various errors of the gyroscope and accelerometer, such as: zero bias, zero bias stability, random error , scale factor, etc. adopt the off-line calibration method, which requires high technical requirements for production and the accuracy of calibration equipment, which makes the production cost high, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/18G01C25/00G01S19/42
CPCG01C21/165G01C21/18G01S19/42G01C25/005
Inventor 薛文通白阳吕明赵蓓周良荣王莎王玲玲赵彦彦马盼刘芳
Owner SHANGHAI CYGNUS SEMICON CO LTD
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