Rapid course initialization method based on acceleration matching, electronic equipment and storage medium

Abstract

The invention provides a rapid course initialization method based on acceleration matching. The method comprises the following steps of: calculating a GNSS horizontal speed, calculating a GNSS horizontal acceleration, calculating an IMU pitch angle, a roll angle and a course angle by a navigation attitude algorithm, calculating an MEMS-IMU horizontal acceleration, selecting an acceleration matching interval, calculating GNSS acceleration time delay by correlation matching of horizontal and acceleration module values, calculating the course angle in the matching interval, refining the course value by correlating the course angle variable quantity in the matching interval, and calculating the course value at any moment by calculating the course variable quantity based on the refined course value and a heading attitude algorithm. The invention relates to electronic equipment and a storage medium, which are used for executing a course fast initialization method based on acceleration matching. According to the invention, the installation of IMU and a motion mode of a carrier do not need to be limited, the usability is high, the method is not interfered by environment magnetic interference, and complex calibration is not needed.

Description

technical field [0001] The present invention relates to the technical field of GNSS / MEMS-INS combined positioning, and in particular to a fast heading initialization method based on acceleration matching, electronic equipment, and a storage medium. Background technique [0002] The GNSS / MEMS-INS combined positioning technology can determine the attitude and position of the RTK receiver. The high-precision position information is obtained by the RTK positioning technology, and the attitude information needs to be solved by the combined GNSS / MEMS-INS. Once the high-precision attitude information is determined, high-precision RTK tilt measurement operations can be performed. The GNSS / MEMS-INS combined solution needs to complete the initial alignment work, that is, to complete the determination of the three Euler angles of the carrier attitude, including the heading angle ψ, pitch angle θ and roll angle γ. [0003] The initial alignment work includes two parts: horizontal attit...

AI Technical Summary

Problems solved by technology

[0005] The above method has the following problems: (1) The principle of course alignment based on geomagnetic measurement is relatively simple, and the implementation is not complicated, but the operation is more troublesome, and geomagnetic parameter calibration (such as ellipsoid calibration) needs to be performed before the operation. Generally, the earth’s magnetic field The intensity is small, and the geomagnetic measuring equipment is easily disturbed by the environmental magnetic field

In the actual operation process, the environmental magnetic field is complex and changeable, and the magnetic field calibration parameters in different operating areas will be different. The accuracy of heading alignment based on geomagnetic measurement is unstable.

[0006] (2) Heading alignment is achieved based on horizontal position matching. This method requires the travel direction of the carrier to be consistent with the longitudinal axis of the carrier, which limits the RTK operation mode and the user experience is not good

[0007] (3) Heading alignment is realized based on horizontal velocity matching. This method requires the direction of travel of the carrier to be consistent with the direction of the longitudinal axis of the carrier. However, in actual RTK operations, the angle between the direction of travel of the carrier and the longitudinal axis of the carrier may change at any time. Using GNSS The velocity vector calculated by the speed measurement technology obtains the heading angle, which is not the real carrier heading angle

But the GNSS speed output itself contains delay, and the calculation of acceleration using GNSS speed contains noise

In the RTK application scenario, due to the complex movement mode of the handheld device, and the acceleration range is short, and the acceleration is small, the calculation accuracy of this method is low

[0009] Therefore, in order to achieve fast and high-precision GNSS / MEMS-INS combined heading alignment in RTK applications, the above methods are difficult to meet

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