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Vehicle-mounted integrated navigation equipment attitude adaptive estimation method

A technology of self-adaptive estimation and integrated navigation, applied in navigation calculation tools, navigation through speed/acceleration measurement, instruments, etc., can solve the problems of uncertain installation and inability to initialize vehicle-mounted integrated navigation equipment, and achieve low efficiency, Solve the effect of cumbersome process

Pending Publication Date: 2022-08-09
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem that the installation mode of the vehicle-mounted integrated navigation device is uncertain and cannot be initialized, the present invention provides a method for adaptively estimating the attitude of the vehicle-mounted integrated navigation device

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  • Vehicle-mounted integrated navigation equipment attitude adaptive estimation method
  • Vehicle-mounted integrated navigation equipment attitude adaptive estimation method
  • Vehicle-mounted integrated navigation equipment attitude adaptive estimation method

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Embodiment Construction

[0051] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0052]The invention is developed and designed based on Rockchip RV1126 platform and NXP's 32-bit microcontroller S32K144. Considering that the real-time performance of the single-chip microcomputer is relatively good, the data acquisition and analysis of the sensors in the whole system are completed on the S32K144, and the FreeRTOS real-time operating system is used for task scheduling, which ensures the time alignment between the sensors. The algorithm part of the system involves a lar...

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Abstract

The invention discloses a vehicle-mounted integrated navigation equipment attitude adaptive estimation method, which is applied to a vehicle-mounted integrated navigation system, comprises an inertial sensor IMU and a GNSS module, and comprises the following steps: S1, sensor data acquisition and correction; s2, calculating a pitch angle and a roll angle of the attitude angle of the navigation equipment; s3, setting and initializing the state of the navigation system; s4, initializing an integrated navigation algorithm; s5, performing inertial navigation calculation on the current navigation system state; s6, vehicle state recognition; s7, selecting an error observation matrix of a Kalman filter based on the vehicle state; s8, estimating the state error of the navigation system by a Kalman filter, and correcting the state error of the current navigation system; and S9, evaluating an estimation result of the installation attitude of the navigation equipment.

Description

technical field [0001] The invention belongs to the field of multi-sensor information fusion, and in particular relates to an attitude self-adaptive estimation method for a vehicle-mounted integrated navigation device. Background technique [0002] The in-vehicle integrated navigation device (in-vehicle integrated navigation system) needs a good initial state alignment before it can work normally. Since the installation method of the vehicle integrated navigation device on the vehicle body is uncertain, the relative relationship between the navigation device carrier coordinate system and the vehicle body coordinate system needs an adaptive method to estimate. [0003] At present, the main navigation methods of commercial vehicles at home and abroad are the combination of GNSS and digital maps. One of the disadvantages of this method is that the vehicle is navigating on a plane and has no attitude angle output; this is sufficient for only positioning requirements, but it can...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01S19/42G01S19/52G01S19/53
CPCG01C21/165G01C21/20G01S19/42G01S19/52G01S19/53
Inventor 朱威王满杨世博何德峰郑雅羽
Owner ZHEJIANG UNIV OF TECH
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