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Odometer parameter calibration method based on single position datum point

A parameter calibration and odometer technology, which is applied in the field of inertial navigation, can solve the problems of high requirements for docking reference points and the inability to achieve fast and convenient calibration of odometer parameters, and achieve the effects of high-precision positioning, easy implementation and high precision.

Active Publication Date: 2022-03-04
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

The existing odometer parameter calibration methods mostly use two position reference points, starting from the first reference point and ending at the second reference point. Since the calibration path is limited, long-distance reference points need to be arranged in advance. The requirements for docking reference points are high, and the fast and convenient calibration function of odometer parameters cannot be realized

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  • Odometer parameter calibration method based on single position datum point
  • Odometer parameter calibration method based on single position datum point
  • Odometer parameter calibration method based on single position datum point

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Embodiment Construction

[0048] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0049] An odometer calibration method based on a single-position reference point, such as figure 1 shown, including the following steps:

[0050] Step 1. Convert the odometer signal from the odometer coordinate system to the inertial navigation device coordinate system, and perform the odometer push calculation.

[0051] In this step, if the odometer and the inertial navigation device perform integrated navigation, it is necessary to model the error model of the odometer. The conventional odometer error model includes three parameters, which are the odometer scale factor δk d , azimuth installation error δψ and pitch installation angle error δθ.

[0052] The present invention converts the odometer signal ΔS (displacement increment) from the odometer coordinate system d system (satisfies the definition of the right-handed coordinate system, t...

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Abstract

The invention relates to a speedometer parameter calibration method based on a single position reference point, which is technically characterized by comprising the following steps of: 1, establishing a model according to speedometer calibration parameters, and converting a speedometer signal from a speedometer coordinate system to an inertial navigation equipment coordinate system; 2, correcting a pure inertial navigation calculation position according to a pure inertial navigation calculation result and a positioning error calculation result; and step 3, calculating speedometer calibration parameters according to a pure inertial navigation calculation position correction result and a speedometer pushing calculation result. The vehicle-mounted odometer parameter calibration method is reasonable in design, high-precision positioning precision is achieved through a pure inertial navigation calculation and position correction method, the vehicle-mounted odometer parameter calibration method has the short-time high-precision positioning capacity of an inertial navigation system, the odometer parameter calibration function is achieved, parameter calibration of a vehicle-mounted odometer can be completed only through one position datum point, and the vehicle-mounted odometer parameter calibration method is high in practicability. The method has the characteristics of high precision, high universality, convenience in implementation and the like.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation and relates to the testing of inertial navigation devices, in particular to a method for calibrating parameters of an odometer based on a single-position reference point. Background technique [0002] The combination of land-use inertial navigation system and history meter can realize high-precision positioning and orientation functions. In the combination process, the parameters of the odometer need to be converted to the navigation coordinate system, and the error parameters of the odometer need to be accurately calibrated in advance during the conversion process. The existing odometer parameter calibration methods mostly use two position reference points, starting from the first reference point and ending at the second reference point. Since the calibration path is limited, long-distance reference points need to be arranged in advance. The docking reference point has high requireme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005Y02T10/40
Inventor 张君刘赢赵帅
Owner TIANJIN NAVIGATION INSTR RES INST
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