CN106767894A - A kind of Big Dipper/odometer combination scaling method for inertial navigation - Google Patents

Abstract

The present invention provides a kind of Big Dipper/odometer combination scaling method for inertial navigation, comprises the following steps：Step 1, inertial navigation unit is installed on experiment car, power-up starts, completes initialization preparation and self-inspection；When step 2, stationary vehicle, initial odometer scale and orientation fix error angle, the positional information completion system bookbinding of bookbinding stop BD2 are bound；Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；And step 4, vehicle launch, along selected route running, system demarcates odometer scale and orientation fix error angle simultaneously by BD2 positional informations and mileage dead reckoning, odometer is demarcated as Real-time Collection odometer pulse, terminal point coordinate is estimated by dead reckoning, and automatic Calibration is calculated odometer scale and fix error angle；BD2 is demarcated and is used positional information calculation odometer scale and fix error angle.Using combination scaling method of the invention, the precision of inertial navigation/BD2/ odometer integrated navigations can be improved.

Description

A kind of Big Dipper/odometer combination scaling method for inertial navigation

Technical field

The present invention relates to inertial navigation technique field, inertial navigation precision can be quickly improved in particular to a kind of For the Big Dipper/odometer combination scaling method of inertial navigation.

Background technology

Integrated navigation is mainly by inertial navigation unit and Beidou II satellite navigation system (hereinafter referred to as BD2) The combination of/odometer realizes that inertia is resolved Kalman filter the rate information and odometer rate information for obtaining Combination, carries out estimation error and compensation, obtains the navigation informations such as carrier positions, attitude and speed.Work as BD2 When signal is effective, by position and speed integrated filter navigation algorithm, realize that system in combination is navigated.

Odometer, can be in BD2 Signal Fail as inertial navigation used as a kind of equipment of measuring vehicle distance travelled Ancillary sources, and composition dead reckoning system can be combined with inertial navigation system, it is to avoid continuous parking school The inconvenience of positive inertial navigation.The constant multiplier of odometer is one of key parameter of restriction dead reckoning system precision. Due to being influenceed by factors such as car load, tire wear, the blowing pressure and temperature, odometer constant multiplier In the presence of gradually changing, on-line proving must be carried out to the coefficient when every subtask starts.

When inertial navigation/BD2/ odometers integrated navigation research is carried out, odometer is first typically carried out by preventing test Demarcate, be calculated calibration result:Odometer scale and azimuthal error angle, then bookbinding parameter is to inertial navigation system In system, obtain being counted for the mileage of integrated navigation.But the demarcation of odometer just starts in system sport car Time error is larger, and the mileage that now system-computed is obtained counts the actual mileage number that can not truly reflect vehicle.

The content of the invention

In order to improve inertial navigation/BD2/ odometer integrated navigation precision, the present invention is directed to propose one kind can be carried quickly The BD2/ odometers combination scaling method of inertial navigation precision high.

The high-precision calibrating of odometer parameter is realized, it is necessary to accurate position reference.And BD2 is in a segment distance It is interior to provide precision relative position information very high, a combination of both demarcation is just carried out when sport car just starts, Odometer calibrated error is constantly corrected using the calibration result of BD2, high-precision mileage information is reached, So as to improve integrated navigation precision.

Above-mentioned purpose of the invention realizes that dependent claims are with another by the technical characteristic of independent claims Choosing or favourable mode develop the technical characteristic of independent claims.

To reach above-mentioned purpose, the present invention proposes a kind of Big Dipper/odometer combination demarcation side for inertial navigation Method, comprises the following steps：

Step 1, inertial navigation unit is installed on experiment car, power-up starts, completes initialization and prepare And self-inspection；

When step 2, stationary vehicle, initial odometer scale and orientation fix error angle are bound, bind stop The positional information completion system bookbinding of BD2；

Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；

Step 4, vehicle launch, along selected route running, system is by BD2 (i.e. Beidou II satellite navigation systems System) positional information and mileage dead reckoning demarcate odometer scale and orientation fix error angle simultaneously, wherein, Odometer is demarcated as Real-time Collection odometer pulse, and terminal point coordinate, and automatic Calibration meter are estimated by dead reckoning Calculation obtains odometer scale and fix error angle；BD2 is demarcated and is used positional information calculation odometer scale and installation Error angle, vehicle often travels about 2km respectively by mileage dead reckoning and the demarcation once of BD2 positional informations Journey meter, the coordinate value of mileage dead reckoning this moment is compared with the positional information of BD2, if error is relatively smart Degree is more than 1%, then the result demarcated by BD2 positional informations updates mileage parameter, and carry out odometer scale, Established angle amendment, as the fixed mileage bookbinding parameter of next segment mark, while using BD2 coordinate values this moment as The original position that next section of 2km distance is demarcated；Above-mentioned calibration process is repeated, until two kinds of error phases of demarcation 1% is less than to precision, terminates to demarcate, this mileage scale, fix error angle are filled as The last mile Parameter is ordered, is combined with the Big Dipper/odometer by inertial navigation, inertial navigation is estimated by Kalman filter Output error, and constantly each navigational parameter of amendment output, to improve positioning precision.

The present invention compared with prior art, the advantage is that：Odometer parameter is demarcated in inertial navigation/odometer combination On the basis of again add BD2 positional informations demarcation.BD2 positional informations are demarcated and demarcate same with mileage dead reckoning Shi Jinhang, and mileage dead reckoning calibration result is constantly corrected, to study high-precision inertial navigation/BD2/ Mileage integrated positioning directed navigation system provides preferably support.

The constant multiplier and fix error angle of odometer are the key parameters for restricting dead reckoning system precision. Odometer inherent parameters combine BD2 positional informations and demarcate the amendment demarcated to odometer on the basis of demarcating, its Performance is better than the result that independent mileage dead reckoning is demarcated, while in the wide scope of unknown fixed coordinates point Real-time calibration during interior achievable vehicle movement.The inventive method is by two kinds of demarcation of BD2 and odometer The combination of method, realizes high-precision odometer combination and demarcates.

It should be appreciated that all combinations of aforementioned concepts and the extra design for describing in greater detail below are only One of the subject matter of the disclosure is can be viewed as in the case where such design is not conflicting Point.In addition, all combinations of theme required for protection are considered as a part for the subject matter of the disclosure.

Can be more fully appreciated with from the following description with reference to accompanying drawing present invention teach that foregoing and other side Face, embodiment and feature.The feature of other additional aspects such as illustrative embodiments of the invention and/or have Beneficial effect will be obvious in the following description, or by according to present invention teach that specific embodiment practice In learn.

Brief description of the drawings

Accompanying drawing is not intended to drawn to scale.In the accompanying drawings, each the identical or approximate phase for showing in each figure Same part can be indicated by the same numeral.For clarity, in each figure, not each Part is labeled.Now, example will be passed through and various aspects of the invention is described in reference to the drawings Embodiment, wherein：

Fig. 1 is the Big Dipper for the inertial navigation/odometer combination scaling method according to certain embodiments of the invention Schematic flow sheet.

Specific embodiment

In order to know more about technology contents of the invention, especially exemplified by specific embodiment and institute's accompanying drawings are coordinated to be described as follows.

Each side with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the reality of many explanations Apply example.Embodiment of the disclosure must not be intended to include all aspects of the invention.It should be appreciated that being situated between above The various designs for continuing and embodiment, and those designs for describing in more detail below and implementation method can be with Any one is implemented in many ways, because design disclosed in this invention and embodiment are not limited In any implementation method.In addition, it is disclosed by the invention some aspect can be used alone, or with the present invention It is disclosed otherwise any appropriately combined to use.

With reference to shown in Fig. 1, embodiments in accordance with the present invention, a kind of Big Dipper/odometer group for inertial navigation Scaling method is closed, is comprised the following steps：

Step 1, inertial navigation unit is installed on experiment car, power-up starts, completes initialization and prepare And self-inspection；

When step 2, stationary vehicle, initial odometer scale and orientation fix error angle are bound, bind stop The positional information completion system bookbinding of BD2；

Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；

Step 4, vehicle launch, along selected route running, system is by BD2 (i.e. Beidou II satellite navigation systems System) positional information and mileage dead reckoning demarcate odometer scale and orientation fix error angle simultaneously, wherein, Odometer is demarcated as Real-time Collection odometer pulse, and terminal point coordinate, and automatic Calibration meter are estimated by dead reckoning Calculation obtains odometer scale and fix error angle；BD2 is demarcated and is used positional information calculation odometer scale and installation Error angle, vehicle often travels about 2km respectively by mileage dead reckoning and the demarcation once of BD2 positional informations Journey meter, the coordinate value of mileage dead reckoning this moment is compared with the positional information of BD2, if error is relatively smart Degree is more than 1%, then the result demarcated by BD2 positional informations updates mileage parameter, and carry out odometer scale, Established angle amendment, as the fixed mileage bookbinding parameter of next segment mark, while using BD2 coordinate values this moment as The original position that next section of 2km distance is demarcated；Above-mentioned calibration process is repeated, until two kinds of error phases of demarcation 1% is less than to precision, terminates to demarcate, this mileage scale, fix error angle are filled as The last mile Parameter is ordered, is combined with the Big Dipper/odometer by inertial navigation, inertial navigation is estimated by Kalman filter Output error, and constantly each navigational parameter of amendment output, to improve positioning precision.

In some optional examples, in step 4, odometer is demarcated using classical calibration algorithm, its realization Procedure declaration is as follows：Vehicle is travelled between known two coordinate points along route, the arteries and veins of record odometer output The distance between number N, two coordinate points is rushed for S, then odometer constant multiplier is：K=S/N.Odometer speed：Expression formula of the odometer speed in navigational coordinate system n：Then odometer is calculated The position differential equation is:

Wherein, L_L、B_L、h_LThe respectively longitude of dead reckoning odometer positioning calculation, latitude and height, andLarger orientation fix error angle is influenceed on position error Wherein, L_x1、L_y1It is vehicle real displacement in east orientation and the projection components of north orientation, computing formula is as follows:

L_x1=(R_N+h)cos L_a sin(B_b-B_a), L_y1=(R_M+h)sin(L_b-L_a)；

L_x2、L_y2For vehicle calculates displacement in east orientation and the projection components of north orientation, computing formula is as follows:

L_x2=(R_N+h)cos L_a sin(Bb′-_BA), L_y2=(R_M+h)sin(L_b′-L_a)。

In certain embodiments, in step 4, the method that BD2 positional informations are demarcated is described as follows：Vehicle starts The initial value Lat of record longitude and latitude before motion_b(i)、Lon_bI () (i=1 ... n), i is every 2km countings once. A BD2 positional information, the currency of BD2 longitudes and latitudes during by 2km are recorded during vehicle movement per 2km As calculating final value LAt used herein_e(i)、Lon_e(i) (i=1 ... n), by coordinate transform by BD2 signals Longitude and latitude is converted to the coordinate value X that can be used for calculating_b(i)、Y_b(i)、X_e(i)、Y_e(i), then real displacement and calculating Displacement is as follows respectively in the component computing formula of X, Y：

Wherein X_o(i)、Y_oI () is that BD2 exports longitude and latitude Angle value Lat_o(i)、Lon_oI actual coordinate value that () (i=1 ... n) is obtained by Coordinate Conversion.When vehicle is in motion During state, Lat_o(i)、Lon_oI () takes the longitude and latitude currency of moving vehicle；When a vehicle is at rest, Lat_o(i)、Lon_oI () takes the longitude and latitude fixed value of previous moment.Real displacement and the computing formula point of calculating displacement It is not as follows：Constant multiplierWherein k (0) is car The odometer constant multiplier of initial binding before setting in motion.Azimuth γ under real displacement₁And calculate displacement lower section Parallactic angle γ₂Computing formula respectively it is as follows：

Final orientation fix error angle γ (the i)=γ demarcated per 2km₁(i)-γ₂(i).Repeat step 6, until coordinate Trueness error is less than 1 ‰.

Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.The present invention Those of ordinary skill in the art, it is without departing from the spirit and scope of the present invention, each when that can make The change planted and retouching.Therefore, protection scope of the present invention is worked as and is defined depending on those as defined in claim.

Claims (3)

1. a kind of Big Dipper for inertial navigation/odometer combination scaling method, it is characterised in that including with Lower step：

Step 1, inertial navigation unit is installed on experiment car, power-up starts, completes initialization and prepare And self-inspection；

When step 2, stationary vehicle, initial odometer scale and orientation fix error angle are bound, bind stop The positional information completion system bookbinding of BD2；

Northern order is sought in step 3, reception, is automatically performed and is sought north and enter navigational state；

Step 4, vehicle launch, along selected route running, system is by BD2 positional informations and mileage dead reckoning Odometer scale and orientation fix error angle are demarcated simultaneously, wherein:

Odometer is demarcated as Real-time Collection odometer pulse, estimates terminal point coordinate by dead reckoning, and mark automatically Surely odometer scale and fix error angle are calculated；

BD2 is demarcated and is used positional information calculation odometer scale and fix error angle, vehicle often to travel about 2km An odometer is demarcated by mileage dead reckoning and BD2 positional informations respectively, by mileage dead reckoning this moment Coordinate value is compared with the positional information of BD2, if error relative accuracy is more than 1%, by BD2 positional informations The result of demarcation updates mileage parameter, and carries out odometer scale, established angle amendment, fixed as next segment mark Mileage bookbinding parameter, while the start bit that BD2 coordinate values this moment are demarcated as next section of 2km distance Put；Above-mentioned calibration process is repeated, until two kinds of error relative accuracys of demarcation are less than 1%, terminates to demarcate, will This mileage scale, fix error angle as The last mile bookbinding parameter, by inertial navigation and the Big Dipper/ Odometer is combined, and the output error of inertial navigation is estimated by Kalman filter, and constantly amendment output is respectively led Boat parameter, to improve positioning precision.

2. the Big Dipper/the odometer for inertial navigation according to claim 1 combines scaling method, its It is characterised by, in step 4, odometer is demarcated using classical calibration algorithm, and its implementation process is as follows：

Vehicle is travelled between known two coordinate points along route, the umber of pulse N of record odometer output, and two sit Distance between punctuate is S, then odometer constant multiplier is：K=S/N；Odometer speed： $v_L^b=\left[\begin{array}{ccc}0& v_L& 0\end{array}\right],$ Expression formula of the odometer speed in navigational coordinate system n：Then：

The position differential equation of odometer is:

${\stackrel{\·}{L}}_L=\frac{V_{LE}^n}{(R_N+h)\·{\mathrm{cosB}}_L}$

${\stackrel{\·}{B}}_L=\frac{V_{LN}^n}{R_M+h}$

${\stackrel{\·}{h}}_L=V_{LD}^n$

Wherein, L_L, B_L、h_LThe respectively longitude of dead reckoning odometer positioning calculation, latitude and height, and $v_L^n={\left[\begin{array}{ccc}{V}_{LE}^n& V_{LN}^n& V_{LD}^n\end{array}\right]}^T.$ Larger orientation fix error angle is influenceed on position error $\mathrm{\γ}={\tan }^{-1}\frac{L_{x1}}{L_{y1}}-{\tan }^{-1}\frac{L_{xz}}{L_{yz}};$ Wherein, L_x1、L_y1It is vehicle real displacement in east orientation and the projection components of north orientation, computing formula is as follows:

L_x1=(R_N+h)cos L_a sin(B_b-B_a), L_y1=(R_M+h)sin(L_b-L_a)；

L_x2、L_y2For vehicle calculates displacement in east orientation and the projection components of north orientation, computing formula is as follows:

L_x2=(R_N+h)cos L_a sin(B_b′-B_a), L_y2=(R_M+h)sin(L_b′-L_a)。

3. the Big Dipper/the odometer for inertial navigation according to claim 1 and 2 combines scaling method, Characterized in that, in the step 4, the method that BD2 positional informations are demarcated includes：

The initial value Lat of longitude and latitude is recorded before vehicle setting in motion_b(i)、Lon_bI () (i=1 ... n), i is every 2km mono- Secondary counting；A BD2 positional information is recorded per 2km during vehicle movement, BD2 warps during by 2km The currency of latitude is used as calculating final value Lat used herein_e(i)、Lon_e(i) (i=1 ... n), by coordinate transform The longitude and latitude of BD2 signals is converted to the coordinate value X that can be used for calculating_b(i)、Y_b(i)、X_e(i)、Y_e(i), then very Real displacement and calculating displacement are as follows respectively in the component computing formula of X, Y：

$\left\{\begin{array}{c}{\mathrm{\ΔX}}_1\left(i\right)=X_e\left(i\right)-X_b\left(i\right)\\ {\mathrm{\ΔY}}_1\left(i\right)=Y_e\left(i\right)-Y_b\left(i\right)\end{array}\right.,\left\{\begin{array}{c}{\mathrm{\ΔX}}_2\left(i\right)=X_o\left(i\right)-X_b\left(i\right)\\ {\mathrm{\ΔY}}_2\left(i\right)=Y_o\left(i\right)-Y_b\left(i\right)\end{array}\right.;$

Wherein, X_o(i), Y_oI () is BD2 output latitude and longitude values Lat_o(i)、Lon_oI () (i=1 ... n) is by Coordinate Conversion The actual coordinate value for obtaining；When vehicle is kept in motion, Lat_o(i)、Lon_oI () takes the longitude and latitude of moving vehicle Degree currency；When a vehicle is at rest, Lat_o(i)、Lon_oI () takes the longitude and latitude fixed value of previous moment；

Real displacement and the computing formula of calculating displacement are as follows respectively：

$\left\{\begin{array}{c}{S}_1\left(i\right)=\sqrt{{\left({\mathrm{\ΔX}}_1\left(i\right)\right)}^2+{\left({\mathrm{\ΔY}}_1\left(i\right)\right)}^2}\\ S_2\left(i\right)=\sqrt{{\left({\mathrm{\ΔX}}_2\left(i\right)\right)}^2+{\left({\mathrm{\ΔY}}_2\left(i\right)\right)}^2}\end{array}\right.;$

Constant multiplier $k\left(i\right)=\frac{s_2\left(i\right)}{s_1\left(i\right)}k(i-1);$

Wherein, k (0) is the odometer constant multiplier of initial binding before vehicle setting in motion；

Azimuth γ under real displacement₁And calculate azimuth γ under displacement₂Computing formula respectively it is as follows：

$\left\{\begin{array}{c}\begin{array}{ccc}{\mathrm{\&gamma;}}_1\left(i\right)={\tan }^{-1}({\mathrm{\&Delta;Y}}_1\left(i\right)/{\mathrm{\&Delta;X}}_1\left(i\right))& {\mathrm{\&Delta;X}}_1\left(i\right)>0,& {\mathrm{\&Delta;Y}}_1\left(i\right)>0\end{array}\\ \begin{array}{cc}{\mathrm{\&gamma;}}_1\left(i\right)={\tan }^{-1}({\mathrm{\&Delta;Y}}_1\left(i\right)/{\mathrm{\&Delta;X}}_1\left(i\right))+\mathrm{\&pi;}& {\mathrm{\&Delta;X}}_1\left(i\right)<0\end{array}\\ \begin{array}{ccc}{\mathrm{\&gamma;}}_{1\left(i\right)}={\tan }^{-1}({\mathrm{\&Delta;Y}}_1\left(i\right)/{\mathrm{\&Delta;X}}_1\left(i\right))+2\mathrm{\&pi;}& {\mathrm{\&Delta;X}}_1\left(i\right)>0,& {\mathrm{\&Delta;Y}}_1\left(i\right)<0\end{array}\end{array}\right.$

$\left\{\begin{array}{c}\begin{array}{ccc}{\mathrm{\&gamma;}}_2\left(i\right)={\tan }^{-1}({\mathrm{\&Delta;Y}}_2\left(i\right)/{\mathrm{\&Delta;X}}_2\left(i\right))& {\mathrm{\&Delta;X}}_2\left(i\right)>0,& {\mathrm{\&Delta;Y}}_2\left(i\right)>0\end{array}\\ \begin{array}{cc}{\mathrm{\&gamma;}}_2\left(i\right)={\tan }^{-1}({\mathrm{\&Delta;Y}}_2\left(i\right)/{\mathrm{\&Delta;X}}_2\left(i\right))+\mathrm{\&pi;}& {\mathrm{\&Delta;X}}_2\left(i\right)<0\end{array}\\ \begin{array}{ccc}{\mathrm{\&gamma;}}_2\left(i\right)={\tan }^{-1}({\mathrm{\&Delta;Y}}_2\left(i\right)/{\mathrm{\&Delta;X}}_2\left(i\right))+2\mathrm{\&pi;}& {\mathrm{\&Delta;X}}_2\left(i\right)>0,& {\mathrm{\&Delta;Y}}_2\left(i\right)<0\end{array}\end{array}\right.$

Final orientation fix error angle γ (the i)=γ demarcated per 2km₁(i)-γ₂(i)；

Repeat this step to demarcate BD2 positional informations, until coordinate precision error is less than 1 ‰.