CN101598559A - The location compensation method of Vehicular continuous navigation device and the optimized Algorithm of locator data - Google Patents
The location compensation method of Vehicular continuous navigation device and the optimized Algorithm of locator data Download PDFInfo
- Publication number
- CN101598559A CN101598559A CNA2008100285250A CN200810028525A CN101598559A CN 101598559 A CN101598559 A CN 101598559A CN A2008100285250 A CNA2008100285250 A CN A2008100285250A CN 200810028525 A CN200810028525 A CN 200810028525A CN 101598559 A CN101598559 A CN 101598559A
- Authority
- CN
- China
- Prior art keywords
- data
- gps
- strapdown
- algorithm
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 14
- 239000003607 modifier Substances 0.000 claims abstract description 20
- 230000004927 fusion Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- JNNIZILNBMPOAC-MOXQZVSFSA-N (2s)-2-amino-5-[[(2r)-1-(carboxymethylamino)-3-[[(9r,10r)-10-hydroxy-9,10-dihydrophenanthren-9-yl]sulfanyl]-1-oxopropan-2-yl]amino]-5-oxopentanoic acid Chemical compound C1=CC=C2[C@@H](SC[C@H](NC(=O)CC[C@H](N)C(O)=O)C(=O)NCC(O)=O)[C@H](O)C3=CC=CC=C3C2=C1 JNNIZILNBMPOAC-MOXQZVSFSA-N 0.000 claims 7
- 230000002045 lasting effect Effects 0.000 abstract 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000013480 data collection Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Images
Landscapes
- Navigation (AREA)
Abstract
The present invention relates to the navigator technical field, refer in particular to a kind of Vehicular continuous navigation device that can continue navigation vehicle.Technical scheme is: carry out initialization after the system start-up earlier, when the GPS input is arranged, in conjunction with the GPS input data are merged by the integrated navigation algorithm then; Resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.And strapdown is resolved algorithm be optimized pulling speed.The present invention has solved the problem of lasting and navigation accurately and fast etc. effectively; Can be widely used in the lasting navigational system such as vehicle.
Description
Technical field
The present invention relates to the navigator technical field, refer in particular to and a kind ofly can continue the location compensation method of Vehicular continuous navigation device of navigation and the optimized Algorithm of locator data vehicle.
Background technology
Present guider is to be navigation data to receive gps signal mostly, and this application is very ripe; But GPS navigation is positioned at and also has these problems in the application: at first be exactly that poor reliability, signal stabilization in its dynamic environment is bad, seek star time majority and will reach tens seconds even several minutes; Next is that GPS location is non-autonomous type, and its application is subjected to many-sided influences such as the policy of the GPS of U.S. government and external environment; With regard to external environment, all can limit the application of GPS to a certain extent such as bridge, tunnel, forest zone and building dense district etc.Comparatively speaking, inertial navigation system (INS, Inertial NavigationSystem) is to utilize the inertia components and parts to measure the acceleration of motion of carrier, obtains navigational parameter to determine carrier positions by calculation process; It is complete autonomous type, round-the-clock, the disturbing effect that is not subjected to external environment, and no signal such as loses at problem.But the inertial navigation location exists error and accumulates the problem that increases rapidly in time, so need external information to assist.GPS and INS have his own strong points, and good complementarity is arranged, so the GPS/INS integrated navigation system can well be brought into play characteristics separately, both can increase the anti-interference of system, can improve the precision of system again.But INS itself also has a lot of inborn defectives, promptly needs to carry out initialization and aligning in the use of INS measuring unit.And vehicle is in normal use, and relatively difficulty is aimed in initialization.The own cost of six gyroscope and accelerometer is still higher in addition.Therefore at the application of automobile, need to reduce the dimension of signal Processing, reduce the quantity of inertia device in the INS unit.Under the prerequisite that precision satisfies the demands, simplify the demand of Processing Algorithm reduction, thereby reduce the cost of total system processing power.
In addition, Vehicular continuous navigational system in the market generally all is that employing dead reckoning technology is resolved, combined filter, though lower on this technology cost, the influence factor of this method is a lot, error is relatively large, and its source of error mainly contains following aspect:
1, odometer error is because the variation of the gas charging degree difference of tire, the speed of a motor vehicle, Tyte Wear, the size of load, the influence of condition of road surface make wheel-slip and spring and turn inside diameter etc. cause the measuring distance error;
2, the error of electronic compass owing to be subjected to the influence of surrounding magnetic field, produces the error of measuring course angle;
3, deflection error is because the attitude of carrier changes the deflection error that when level (non-) introduced;
4, barometer error is because the error that the influence of weather conditions is introduced.
Summary of the invention
One of technical matters that the present invention solves is to provide a kind of fusion GPS and INS navigation data, the vehicle that continues navigation is positioned the method for compensation.
Two of the technical matters that the present invention solves is to provide the optimized Algorithm of the locator data of a kind of effective lifting GPS and INS navigator fix speed.
The technical scheme that the present invention one of solves the problems of the technologies described above is:
Carry out initialization after the system start-up earlier, when the GPS input is arranged, data are merged by the integrated navigation algorithm then in conjunction with the GPS input; Resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.
Further say so:
Carry out initial alignment according to information such as latitude, gyrostatic output and GPS after the system start-up;
Then,, carry out strapdown by specific force coordinate transform scheduling algorithm to resolve, draw attitude orientation and position and speed data according to data such as the acceleration of exporting through the gyroscope of error compensation, angular acceleration;
If do not collect gps data and then above data are directly exported this moment; If collect gps data this moment, then the data and the gps data that will obtain above carries out data fusion by the integrated navigation algorithm, resolves the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed exported.
Definite says so:
At first carry out program designation after the system start-up and load, promptly upward program designation is loaded from FLASH; Carry out system initialization then, comprise system clock setting, port setting, peripheral hardware initialization etc.; Start the timer image data then, waiting timer interrupts, and reads in gyrostatic data when interrupting arriving, and carries out strapdown and resolves, and obtains the information such as position, speed, attitude of vehicle; If do not collect gps data and then above data are directly exported this moment; If collect gps data this moment, then the data and the gps data that will obtain above carries out data fusion by the integrated navigation algorithm, resolves the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed exported.
Two the technical scheme that the present invention solves the problems of the technologies described above is: when should Kalman filtering choosing quantity of state the quantity of state of vertical direction is ignored, with the complexity of this simplified system algorithm.
The present invention utilizes GPS and INS advantage separately in conjunction with the advantage of GPS and INS, the system that the data in the position fixing process are revised mutually.When gps signal interrupted, the INS measuring unit can interrupt constantly beginning to provide locating information at GPS at once, thereby had ensured the uninterrupted of locating information.Recover just often and work as gps signal, can utilize the GPS locating information that the error of INS is compensated and revises again.Exactly because GPS and INS have his own strong points, good complementarity is arranged,, both can effectively solve the discontinuous problem of gps satellite positioning signal so characteristics separately can well be brought into play in GPS+INS multiple measurement unit, can utilize complementary advantage to increase the anti-interference of system again, improve locating accuracy.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing:
Accompanying drawing 1 is a Vehicular continuous navigation device structured flowchart of the present invention;
Accompanying drawing 2 is that the present invention locatees the compensation program FB(flow block);
Accompanying drawing 3 is that the present invention locatees the compensation program process flow diagram.
Embodiment
See accompanying drawing 1, the present invention continue guider include signal acquisition module 1, Main Processor Unit 2, power module 3, reseting module 4, storage expanding module 5, with host computer communication module 6; Described signal acquisition module 1, reseting module 4, storage expanding module 5, be connected with Main Processor Unit 2 respectively with host computer communication module 6; 3 pairs of power modules respectively need electric module for power supply; Reseting module 4 is that supply voltage is when unusual or hand-reset take place, for total system provides reset signal.Storage expanding module 5 models can be S29AL016D, MT48LC4M16A2P etc.; By the external function expansion interface of system, be system extension NOR FLASH and SDRAM, be used for the intermediate variable of storage system start-up code and processing procedure, improve running efficiency of system.Signal acquisition module 1 includes the gps data collection and gyro data is gathered two parts.Gps data carries out being transported to Main Processor Unit 2 after information extraction is handled through single-chip microcomputer; The single-chip microcomputer model is LPC935.The gyro data collection is the sensor of digital signal output, and sensor model number is ADIS16350, adopts digital interface not only can reduce the complexity of system design but also can reduce the processing burden of primary processor.
With host computer communication module 6 models be MAX3111E, MAX3232 etc., by the JTAG mouth, system is debugged by host computer (PC), this system will resolve information such as the coordinate, speed, attitude of the vehicle that obtains and send back host computer by serial ports.
See shown in Figure 2ly, the method that the present invention locatees compensation is: carry out initialization after the system start-up earlier, when the GPS input is arranged, in conjunction with the GPS input data are merged by the integrated navigation algorithm then; Resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.Just: carry out initial alignment according to information such as the output of latitude, gyroscope 11 and GPS12 after the system start-up; Then,, carry out strapdown by specific force coordinate transform 14 scheduling algorithms to resolve, draw attitude orientation and position and speed data according to data such as the acceleration of exporting through the gyroscope 11 of error compensation 13, angular acceleration; If do not collect the GPS12 data and then above data are directly exported this moment; If collect the GPS12 data this moment, then the data and the GPS12 data that will obtain are above carried out data fusion by integrated navigation algorithm 15, resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.
Concrete flow process is seen shown in Figure 3, at first carries out program designation after the system start-up and loads 111, promptly goes up from FLASH program designation is loaded; Carry out system initialization 112 then, comprise system clock setting, port setting, peripheral hardware initialization etc.; Start timer 113 image data then, waiting timer interrupts, and reads in the data of gyroscope 11 when interrupting arriving, and carries out strapdown and resolves, and obtains the information such as position, speed, attitude of vehicle; If do not collect the GPS12 data and then above data are directly exported this moment; If collect gps data this moment, then the data and the GPS12 data that will obtain are above carried out data fusion by integrated navigation algorithm 15, resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.
In the compensation of above-mentioned location, carry out initial fine alignment alignment stage and combined filter stage and all will use Kalman Filter Technology.And the key of utilization Kalman filtering be exactly according to concrete applied environment suitable choose state variable and observable quantity, and list state equation and measurement equation in view of the above.According to the characteristics of Vehicular continuous navigational system, can do suitable optimization to selection of state variable, can ignore the complexity of this simplified system algorithm for Z axle (vertically) state variable that rate of change is slower.
Claims (4)
1, a kind of location compensation method of Vehicular continuous navigation device is characterized in that: carry out initialization after the system start-up earlier, when GPS (12) input is arranged, in conjunction with GPS (12) input data are merged by integrated navigation algorithm (15) then; Resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.
2, according to the described location compensation method of claim, it is characterized in that:
Output and GPS information such as (12) according to latitude, gyroscope (11) after the system start-up are carried out initial alignment;
Then,, carry out strapdown by specific force coordinate transform (14) scheduling algorithm to resolve, draw attitude orientation and position and speed data according to data such as the acceleration of exporting through the gyroscope (11) of error compensation (13), angular acceleration;
If do not collect GPS (12) data and then above data are directly exported this moment; If collect GPS (12) data this moment, then the data and GPS (12) data that will obtain are above carried out data fusion by integrated navigation algorithm (15), resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.
3, location compensation method according to claim 1 and 2 is characterized in that: at first carry out program designation after the system start-up and load (111), promptly upward program designation is loaded from FLASH; Carry out system initialization (112) then, comprise system clock setting, port setting, peripheral hardware initialization etc.; Start timer (113) image data then, waiting timer interrupts, and reads in the data of gyroscope (11) when interrupting arriving, and carries out strapdown and resolves, and obtains the information such as position, speed, attitude of vehicle; If do not collect GPS (12) data and then above data are directly exported this moment; If collect gps data this moment, then the data and GPS (12) data that will obtain are above carried out data fusion by integrated navigation algorithm (15), resolve the data that obtain in order to the feedback modifiers strapdown, at last information such as the attitude orientation after the feedback modifiers, position and speed are exported.
4, the optimized Algorithm of locator data in the described location compensation method of a kind of claim 1; It is characterized in that: when should Kalman filtering choosing quantity of state, the quantity of state of vertical direction is ignored, with the complexity of this simplified system algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100285250A CN101598559A (en) | 2008-06-05 | 2008-06-05 | The location compensation method of Vehicular continuous navigation device and the optimized Algorithm of locator data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100285250A CN101598559A (en) | 2008-06-05 | 2008-06-05 | The location compensation method of Vehicular continuous navigation device and the optimized Algorithm of locator data |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101598559A true CN101598559A (en) | 2009-12-09 |
Family
ID=41420079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100285250A Pending CN101598559A (en) | 2008-06-05 | 2008-06-05 | The location compensation method of Vehicular continuous navigation device and the optimized Algorithm of locator data |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101598559A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323819A (en) * | 2011-07-26 | 2012-01-18 | 重庆邮电大学 | Intelligent wheelchair outdoor navigation method based on coordinated control |
| CN103196442A (en) * | 2013-04-03 | 2013-07-10 | 常熟恒基科技有限公司 | Adaptive vehicle-mounted navigation terminal |
| CN104966408A (en) * | 2014-07-22 | 2015-10-07 | 银江股份有限公司 | GPS positioning data compensation method |
| CN105607093A (en) * | 2015-12-20 | 2016-05-25 | 上海华测导航技术股份有限公司 | Integrated navigation system and method for acquiring navigation coordinate |
| CN114071013A (en) * | 2021-10-13 | 2022-02-18 | 浙江大华技术股份有限公司 | Target capturing and tracking method and device for vehicle-mounted camera |
-
2008
- 2008-06-05 CN CNA2008100285250A patent/CN101598559A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323819A (en) * | 2011-07-26 | 2012-01-18 | 重庆邮电大学 | Intelligent wheelchair outdoor navigation method based on coordinated control |
| CN103196442A (en) * | 2013-04-03 | 2013-07-10 | 常熟恒基科技有限公司 | Adaptive vehicle-mounted navigation terminal |
| CN104966408A (en) * | 2014-07-22 | 2015-10-07 | 银江股份有限公司 | GPS positioning data compensation method |
| CN104966408B (en) * | 2014-07-22 | 2017-03-15 | 银江股份有限公司 | A kind of GPS location compensation data method |
| CN105607093A (en) * | 2015-12-20 | 2016-05-25 | 上海华测导航技术股份有限公司 | Integrated navigation system and method for acquiring navigation coordinate |
| CN105607093B (en) * | 2015-12-20 | 2018-05-08 | 上海华测导航技术股份有限公司 | A kind of integrated navigation system and the method for obtaining navigation coordinate |
| CN114071013A (en) * | 2021-10-13 | 2022-02-18 | 浙江大华技术股份有限公司 | Target capturing and tracking method and device for vehicle-mounted camera |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105300379B (en) | A kind of Kalman filtering Attitude estimation method and system based on acceleration | |
| CN102879793B (en) | Super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system | |
| CN104567931A (en) | Course-drifting-error elimination method of indoor inertial navigation positioning | |
| CN1330936C (en) | Strapdown intertial/celestial combined navigation semi-material emulation system | |
| CN111323050B (en) | Strapdown inertial navigation and Doppler combined system calibration method | |
| CN100593689C (en) | Gasture estimation and interfusion method based on strapdown inertial nevigation system | |
| CN101514900B (en) | Method for initial alignment of a single-axis rotation strap-down inertial navigation system (SINS) | |
| CN105021183A (en) | Low-cost GPS and INS integrated navigation system for multi-rotor aircrafts | |
| CN105571591A (en) | Multi-information deep integration navigation micro-system and navigation method | |
| CN104165641A (en) | Milemeter calibration method based on strapdown inertial navigation/laser velocimeter integrated navigation system | |
| CN101413799A (en) | Combined navigation system for outdoor movable target | |
| CN101598559A (en) | The location compensation method of Vehicular continuous navigation device and the optimized Algorithm of locator data | |
| CN102645665A (en) | BD (Beidou positioning system), GPS (global positioning system) and DR (dead-reckoning) based positioning information processing method and device | |
| CN103453904B (en) | A kind of redundancy configuration structure of Inertial Measurement Unit | |
| CN102788597B (en) | Error suppressing method of rotary strap-down inertial navigation system based on space stabilization | |
| CN102305635B (en) | Alignment method of optical fiber strapdown compass system | |
| CN103712598A (en) | Attitude determination system and method of small unmanned aerial vehicle | |
| CN111781624B (en) | Universal integrated navigation system and method | |
| CN102052921A (en) | Method for determining initial heading of single-axis rotating strapdown inertial navigation system | |
| CN103900566A (en) | Method for eliminating influence on accuracy of rotating modulation strapdown inertial navigation system caused by earth rotation angular velocity | |
| Carratù et al. | IMU self-alignment in suspensions control system | |
| CN104833529A (en) | Vehicle performance test system based on inertial navigation and test method thereof | |
| CN101571395B (en) | Microminiature inertial-combined navigation parameter measuring method | |
| CN204630738U (en) | Based on inertial navigation motor racing Performance Test System | |
| CN2788131Y (en) | Mini-type underwater self-combination navigation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20091209 |