Vehicle-mounted high-precision fault-tolerant integrated navigation method and system

An integrated navigation and high-precision technology, applied in navigation, navigation through speed/acceleration measurement, surveying and navigation, etc., can solve the problems of weak anti-interference ability and low reliability of vehicle navigation system

Active Publication Date: 2021-03-09
中国人民解放军火箭军工程大学
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Problems solved by technology

[0004] The purpose of the present invention is to provide a vehicle-mounted high-precision fault-tolerant integrated navigation method and system for modern military and civilian special vehicles, so as to solve the problem of weak anti-interference ability or low reliability of existing vehicle-mounted navigation systems in complex and harsh environments

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[0071] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0072] The purpose of the present invention is to provide a vehicle-mounted high-precision fault-tolerant integrated navigation method and system for modern military and civilian special vehicles, and can have high autonomy and strong anti-interference ability in some complex and harsh environments.

[0073] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described i...

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Abstract

The invention relates to a vehicle-mounted high-precision fault-tolerant integrated navigation method and system. The method comprises the following steps: based on the attitude output of a strapdowninertial navigation system, the distance increment output of a speedometer and the speed output of a Doppler radar, respectively designing a vehicle loading position calculation algorithm and a speedcalculation algorithm in a geographic coordinate system; researching error models of the odometer and the Doppler radar, and respectively establishing error models of the position calculation and thespeed calculation; using indirect method filtering for integrated navigation design, using strapdown inertial navigation system errors, odometer errors, Doppler radar errors and the like as system states, and subtracting the position and the speed output by strapdown inertial navigation from corresponding information obtained through position calculation and speed calculation respectively to serveas measurement, and designing a filtering algorithm of high-precision fault-tolerant integrated navigation by adopting Kalman filtering. According to the invention, accurate navigation of the vehiclecan be realized, and high navigation precision can still be maintained when one device of the odometer or the Doppler radar breaks down.

Description

technical field [0001] The invention relates to the technical field of vehicle navigation and positioning, in particular to a vehicle high-precision fault-tolerant integrated navigation method and system. Background technique [0002] Modern military and civilian special vehicles usually need to have high-precision, high-reliability navigation and positioning capabilities, and can have high autonomy and strong anti-jamming capabilities in some complex and harsh environments. [0003] At present, the systems used for medium and high-precision vehicle navigation at home and abroad are usually based on inertial navigation systems. As we all know, the inertial navigation system has absolute autonomy and anti-interference ability, which is very suitable for navigation and positioning in various complex and harsh environments. However, the navigation error of the inertial navigation system accumulates over time, making it impossible to complete long-term high-precision navigation...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01C21/28
CPCG01C21/165G01C21/20G01C21/28
Inventor 杨波杨小冈席建祥刘云峰薛亮单斌曲格平高久安
Owner 中国人民解放军火箭军工程大学
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