CN102997892A - Land type navigation system height combination method based on inertia/mileage meter/barometric height - Google Patents

Land type navigation system height combination method based on inertia/mileage meter/barometric height Download PDF

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CN102997892A
CN102997892A CN201110273435XA CN201110273435A CN102997892A CN 102997892 A CN102997892 A CN 102997892A CN 201110273435X A CN201110273435X A CN 201110273435XA CN 201110273435 A CN201110273435 A CN 201110273435A CN 102997892 A CN102997892 A CN 102997892A
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inertia
height
expression
mileage
odometer
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CN102997892B (en
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王黎斌
尚克军
刘辉
王子静
徐策
李文耀
扈光锋
周祖洋
李邦清
刘锋
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Beijing Automation Control Equipment Institute BACEI
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Abstract

The invention belongs to the technical field of land type inertial navigation, and particularly relates to a land type navigation system height combination method based on inertia/mileage meter/barometric height. According to the method, a difference value between a barometric height and an inertia/mileage combination height is adopted as an observation value, a least square method is adopted to evaluate parameters in an inertia/mileage meter height combination error model, and the inertia/mileage height is corrected by using the evaluated parameters. In the prior art, the existing land type navigation system height combination method can not concurrently meet requirements of high precision, electromagnetic interference resistance, and no limitation by barometric altimeter height accuracy and pitch angle error. A purpose of the present invention is to solve technical problems in the prior art. The land type navigation system height combination method has the following beneficial effects: three information such as the inertial navigation, the mileage meter and the barometric height are fused, such that height error inhibition at different vehicle/road condition changes can be achieved, and requirements of high precision, electromagnetic interference resistance, and no limitation by barometric altimeter height accuracy and pitch angle error can be concurrently met.

Description

Based on inertia/odometer/barometer altitude land navigational system altitude combination method
Technical field
The invention belongs to land inertia field of navigation technology, be specifically related to a kind of land based on inertia/odometer/barometer altitude navigational system altitude combination method.
Background technology
Inertia/combinations of satellites, inertia/barometer altitude combination and inertia/forms such as odometer combination are adopted usually with the altitude channel of navigational system in existing land.The vertical accuracy of inertia/combinations of satellites is high, but depends on the satellite navigation systems such as foreign GPS, GLOANSS, and is subject to the impact that electromagnetic interference (EMI) and landform such as block at the many factors; The vertical accuracy of inertia/barometer altitude combination is subject to the vertical accuracy of pressure altimeter; The combination of inertia/odometer is owing to exist angle of pitch error, and angle of pitch error can change to some extent with the fluctuating on carload and road surface, and its vertical error is with the mileage accumulation of travelling.
Summary of the invention
To be existing land can't satisfy high precision, anti-electromagnetic interference (EMI), not be subjected to the requirement of pressure altimeter vertical accuracy and angle of pitch error limitation with navigational system altitude combination method the technical problem to be solved in the present invention simultaneously.
Technical scheme of the present invention is as described below:
A kind of land based on inertia/odometer/barometer altitude navigational system altitude combination method, the method is take the difference of barometer altitude and inertia/mileage combined altitudes as observed quantity, adopt least square method that the parameter in inertia/odometer altitude combination error model is estimated, and utilize the parameter of estimating that inertia/mileage height is revised; Specifically comprise the steps:
Step 1. is set up inertia/odometer combined altitudes error model; Step 2. parameter estimation; Step 3. error compensation.
As preferred implementation, inertia in the step 1/odometer combined altitudes error model is:
h k＝h k-1+ΔD k×sinα k
Δh k＝k 1D k，cosα+k 2D k，sin2α
D k，cosα＝D k-1，cosα+ΔD k×cosα k
D k，sin2α＝D k-1，sin2α+ΔD k×sin2α k
In the formula:
h kExpression k is inertia/mileage combined altitudes constantly, unit: rice;
Δ D kExpression k-1 is constantly to the mileage increment of k between the moment, unit: rice;
α kThe expression k angle of pitch constantly, unit: radian;
Δ h kExpression k is the error of inertia/mileage combined altitudes constantly, unit: rice;
D K, cos αThe expression k moment, the cosine mileage accumulation amount of odometer, unit: rice;
D K, sin2 αThe expression k moment, the sinusoidal mileage accumulation amount of odometer, unit: rice;
k 1, k 2The evaluated error parameter is treated in expression.
Carry out parameter estimation by following formula in the step 2:
P k = [ P k - 1 - P k - 1 H k T ( I + H k P k - 1 H k T ) - 1 H k P k - 1 ]
X ^ k = X ^ k - 1 + P k H k T ( Z k - H k X ^ k - 1 )
In the formula:
Expression is treated to be [k by estimated parameter 1k 2] T, X 0=[0 0] T
P kExpression 2 * 2 dimension matrixes, P 0 = 1 0 0 1 ;
H kExpression [D K, cos αD K, sin2 α];
Z kThe expression observed quantity, namely barometer altitude and inertia/mileage combined altitudes is poor;
With Z kBe independent variable, with k 1, k 2Be dependent variable, adopt least square method to determine k 1, k 2
Carry out error compensation by following formula in the step 3:
h ^ k = h k + H k X ^ k
In the formula:
h kExpression k is inertia/mileage combined altitudes constantly, unit: rice;
Figure BDA0000091464250000031
Represent revised height, unit: rice.
Beneficial effect of the present invention is:
Inertial navigation, odometer and three kinds of information fusion of barometer altitude are passed through to adopt with navigational system altitude combination method in land based on inertia/odometer/barometer altitude of the present invention, realize that the vertical error under different car/road condition change suppresses, can satisfy simultaneously high precision, anti-electromagnetic interference (EMI), not be subjected to the requirement of pressure altimeter vertical accuracy and angle of pitch error limitation.
Embodiment
Below in conjunction with embodiment the land based on inertia/odometer/barometer altitude of the present invention is elaborated with navigational system altitude combination method.
Land based on inertia/odometer/barometer altitude of the present invention with navigational system altitude combination method take the difference of barometer altitude and inertia/mileage combined altitudes as observed quantity, adopt least square method that the parameter in inertia/odometer altitude combination error model is estimated, and utilize the parameter of estimating that inertia/mileage height is revised.Concrete steps are as follows:
Step 1. is set up inertia/odometer combined altitudes error model
h k＝h k-1+ΔD k×sinα k (1)
Δh k＝k 1D k，cosα+k 2D k，sin2α (2)
D k，cosα＝D k-1，cosα+ΔD k×cosα k (3)
D k，sin2α＝D k-1，sin2α+ΔD k×sin2α k (4)
In the formula:
h kExpression k is inertia/mileage combined altitudes constantly, unit: rice;
Δ D kExpression k-1 is constantly to the mileage increment of k between the moment, unit: rice;
α kThe expression k angle of pitch constantly, unit: radian;
Δ h kExpression k is the error of inertia/mileage combined altitudes constantly, unit: rice;
D K, cos αThe expression k moment, the cosine mileage accumulation amount of odometer, unit: rice;
D K, sin2 αThe expression k moment, the sinusoidal mileage accumulation amount of odometer, unit: rice;
k 1, k 2The evaluated error parameter is treated in expression.
Step 2. parameter estimation
P k = [ P k - 1 - P k - 1 H k T ( I + H k P k - 1 H k T ) - 1 H k P k - 1 ] ( 5 )
X ^ k = X ^ k - 1 + P k H k T ( Z k - H k X ^ k - 1 )
In the formula:
Figure BDA0000091464250000044
Expression is treated to be [k by estimated parameter 1k 2] T, X 0=[0 0] T
P kExpression 2 * 2 dimension matrixes, P 0 = 1 0 0 1 ;
H kExpression [D K, cos αD K, sin2 α];
Z kThe expression observed quantity, namely barometer altitude and inertia/mileage combined altitudes is poor.
With Z kBe independent variable, with k 1, k 2Be dependent variable, adopt least square method to determine k 1, k 2
Step 3. error compensation
h ^ k = h k + H k X ^ k - - - ( 6 )
In the formula:
h kExpression k is inertia/mileage combined altitudes constantly, unit: rice;
Represent revised height, unit: rice.
Embodiment 1
At first carry out parameter initialization: X 0=[0 0] T, P 0 = 1 0 0 1 .
And then carry out parameter estimation:
If during 1s, D 0, cos α=0, D 0, sin2 α=0, measure Δ D by odometer 1=1.194, measure α by inertial navigation 1=-28.248 °, by the D that inertia/odometer combined altitudes error model Chinese style (3) calculates 1, cos αBe 1.1518m, the D that is calculated by formula (4) 1, sin2 αFor-0.8999m, the difference Z of barometer altitude and inertia/mileage combined altitudes 1Be 0.0978m, the method for obtaining barometer altitude and inertia/odometer combined altitudes is general knowledge as well known to those skilled in the art, then H 1=[1.1518-0.8999], Z 1=[0.9078].
During 1s, can be calculated according to formula (5):
P 1 = [ P 0 - P 0 H 1 T ( I + H 1 P 0 H 1 T ) - 1 H 1 P 0 ] = 0.577 0.3305 0.3305 0.7418
X ^ 1 = X ^ 0 + P 1 H 1 T ( Z 1 - H 1 X ^ 0 ) = 0.3334 - 0.2604
K when being 1s 1=0.3334, k 2=-0.2604.
Adopt least square method to carry out the parameter recursion when estimating, estimates of parameters increases and is tending towards stable state with observation data, and estimated accuracy improves thereupon.
If during 499s, each parameter that calculates according to last beat of data is
X 499＝[0.0004-0.7315] T， P 499 = 0 0 0 0.001 , H 499＝[3000.0367.706]。
During 500s, measure Δ D by odometer 500=2.3, measure α by inertial navigation 500=10.1 ° is H by formula (3) and formula (4) calculated value 500=[3002.38.5]; According to 500s barometer altitude and inertia/mileage combined altitudes constantly, the difference that can obtain the two is Z 500=[3.5922].
Then during 500s, as follows according to each estimates of parameters of formula (5):
P 500 = [ P 499 - P 499 H 500 T ( I + H 500 P 499 H 500 T ) - 1 H 500 P 499 ] = 0 0 0 0.001 ,
X ^ 500 = X ^ 499 + P 500 H 500 T ( Z 500 - H 500 X ^ 499 ) = 0.0004 - 0.728
K when being 500s 1=0.0004, k 2=-0.728.
Carry out at last error compensation:
If during 500s, inertia/mileage combined altitudes is h 500=32.6941, the height behind the parametric compensation that then utilization estimates according to formula (6) is h ^ 500 = h 500 + H 500 X ^ 500 = 37.6221 .
In the present embodiment, the height measurements that utilization is generally considered the higher GPS of precision is 38m, the measured value of pressure altimeter is 40.1m, inertia/odometer combined altitudes is 42.1m, hence one can see that, the combined altitudes that patent of the present invention calculates will closer to the measured value of GPS height, improve measuring accuracy with respect to pressure altimeter and inertia/odometer combined method; And it more can resist electromagnetic interference (EMI) than gps system; The combination of barometer altitude and inertia/odometer combined altitudes makes this method can not be subjected to the requirement of pressure altimeter vertical accuracy and angle of pitch error limitation.

Claims (4)

  1. One kind based on inertia/odometer/barometer altitude land with navigational system altitude combination method, it is characterized in that: the method is take the difference of barometer altitude and inertia/mileage combined altitudes as observed quantity, adopt least square method that the parameter in inertia/odometer altitude combination error model is estimated, and utilize the parameter of estimating that inertia/mileage height is revised; Specifically comprise the steps:
    Step 1. is set up inertia/odometer combined altitudes error model;
    Step 2. parameter estimation;
    Step 3. error compensation.
  2. 2. described based on inertia/odometer/barometer altitude land navigational system altitude combination method according to claim 1, it is characterized in that: inertia in the step 1/odometer combined altitudes error model is:
    h k＝h k-1+ΔD k×sinα k
    Δh k＝k 1D k，cosα+k 1D k，sin2α
    D k，cosα＝D k-1，cosα+ΔD k×cosα k
    D k，sin2α＝D k-1，sin2α+ΔD k×sin2α k
    In the formula:
    h kExpression k is inertia/mileage combined altitudes constantly, unit: rice;
    Δ D kExpression k-1 is constantly to the mileage increment of k between the moment, unit: rice;
    α kThe expression k angle of pitch constantly, unit: radian;
    Δ h kExpression k is the error of inertia/mileage combined altitudes constantly, unit: rice;
    D K, cos αThe expression k moment, the cosine mileage accumulation amount of odometer, unit: rice;
    D K, sin2 αThe expression k moment, the sinusoidal mileage accumulation amount of odometer, unit: rice;
    k 1, k 2The evaluated error parameter is treated in expression.
  3. 3. described based on inertia/odometer/barometer altitude land navigational system altitude combination method according to claim 2, it is characterized in that: carry out parameter estimation by following formula in the step 2:
    P k = [ P k - 1 - P k - 1 H k T ( I + H k P k - 1 H k T ) - 1 H k P k - 1 ]
    X ^ k = X ^ k - 1 + P k H k T ( Z k - H k X ^ k - 1 )
    In the formula:
    Figure FDA0000091464240000023
    Expression is treated to be [k by estimated parameter 1k 2] T, X 0=[0 0] T
    P kExpression 2 * 2 dimension matrixes, P 0 = 1 0 0 1 ;
    H kExpression [D K, cos αD K, sin2 α];
    Z kThe expression observed quantity, namely barometer altitude and inertia/mileage combined altitudes is poor;
    With Z kBe independent variable, with k 1, k 2Be dependent variable, adopt least square method to determine k 1, k 2
  4. 4. described based on inertia/odometer/barometer altitude land navigational system altitude combination method according to claim 3, it is characterized in that: carry out error compensation by following formula in the step 3:
    h ^ k = h k + H k X ^ k
    In the formula:
    h kExpression k is inertia/mileage combined altitudes constantly, unit: rice;
    Figure FDA0000091464240000026
    Represent revised height, unit: rice.
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CN104154916A (en) * 2013-08-30 2014-11-19 北京航天发射技术研究所 Vehicle positioning device based on laser gyroscope strapdown inertial measurement unit
CN107588769A (en) * 2017-10-17 2018-01-16 北京航天发射技术研究所 A kind of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method
CN108303063A (en) * 2017-12-21 2018-07-20 中国船舶重工集团公司第七0七研究所 A kind of vehicle-mounted combination measurement of higher degree method of high-precision
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CN104154916A (en) * 2013-08-30 2014-11-19 北京航天发射技术研究所 Vehicle positioning device based on laser gyroscope strapdown inertial measurement unit
CN104154916B (en) * 2013-08-30 2018-11-30 北京航天发射技术研究所 A kind of vehicle positioning equipment based on the used group of laser gyro strap down
CN107588769A (en) * 2017-10-17 2018-01-16 北京航天发射技术研究所 A kind of vehicle-mounted inertial navigation, odometer and altimeter Combinated navigation method
CN108303063A (en) * 2017-12-21 2018-07-20 中国船舶重工集团公司第七0七研究所 A kind of vehicle-mounted combination measurement of higher degree method of high-precision
CN108303063B (en) * 2017-12-21 2020-12-15 中国船舶重工集团公司第七0七研究所 High-precision vehicle-mounted combined elevation measurement method
CN114234910A (en) * 2021-12-08 2022-03-25 南京航空航天大学 Inertia and ADS height fusion method based on air pressure reference self-adaptive correction

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