CN109870156B - Autonomous navigation positioning method for low-cost micro-mechanical inertial navigation system for vehicle - Google Patents
Autonomous navigation positioning method for low-cost micro-mechanical inertial navigation system for vehicle Download PDFInfo
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Abstract
The invention belongs to the technical field of micro-inertial positioning for an unmanned freight car in an intelligent storehouse, and particularly relates to an autonomous navigation positioning method for a low-cost micro-mechanical inertial navigation system for a car; the method comprises the following steps: firstly, starting self-checking of a micro-mechanical inertial navigation system, and after the self-checking is successful, sending an initial working instruction to the micro-mechanical inertial navigation system by a control center; secondly, performing initial preparation on the micro-mechanical inertial navigation system to finish initial position binding; then the control center plans a running path of the truck according to the position of the goods to be stored/taken; after the truck receives the path planning of the control center, the acceleration meter of the micro-mechanical inertial navigation system is used for carrying out unidirectional positioning calculation in real time, autonomous navigation positioning is carried out, the position coordinate value obtained by calculation is sent to the control center in real time through a wireless network, and navigation positioning of the truck is completed.
Description
Technical Field
The invention belongs to the technical field of micro-inertial positioning for an unmanned freight car in an intelligent storehouse, and particularly relates to an autonomous navigation positioning method for a low-cost micro-mechanical inertial navigation system for a car.
Background
With the vigorous development of the internet plus, online shopping is increased in an explosive manner, more and more express delivery pieces are provided, and the construction of storehouses is larger and larger. The express delivery is stored and extracted manually, so that the industrial requirements cannot be met. Therefore, the express delivery huge heads such as the Alibaba and the Jingdong are all used for building intelligent storehouses in great force, and the unmanned delivery vehicles (the delivery vehicles for short) are used for storing, extracting and distributing express delivery.
The general workflow of the truck is as follows:
(1) starting the truck, determining the current position and course angle, and reporting the information of the position, course and the like to a storehouse unified control center (a control center for short) through a wireless network.
(2) And the control center automatically plans the running path of the delivery truck according to the position of the delivery truck and the position of the express to be lifted in the storehouse, and sends the path planning result to the delivery truck.
(3) After receiving the path planning, the delivery vehicle drives to the specified storage grid position according to the position information calculated in real time, stores/fetches the express mail, and then drives to the specified storage/fetching position to complete the task.
According to the work flow of the delivery vehicle, the delivery vehicle can complete the task of storing/taking the express only by mastering the accurate position information of the delivery vehicle in real time.
In recent years, micro inertial devices have been developed rapidly, and have the advantages of low cost, small size, low power consumption and the like, and are widely applied to various civil fields. The navigation positioning of the freight car can be realized by utilizing the information such as the acceleration, the magnetic heading and the like output by the micro-inertia device, so the micro-inertia positioning technology is a technical approach for solving the problem of positioning the freight car.
Disclosure of Invention
Aiming at the prior art, the invention aims to provide an autonomous navigation positioning method of a low-cost micro-mechanical inertial navigation system for a vehicle, and the method is used for solving the problem of positioning of a freight car.
In order to achieve the above object, the present invention adopts the following technical solutions.
The invention aims to provide an autonomous navigation positioning method of a low-cost micro-mechanical inertial navigation system for a vehicle, which comprises the following steps:
two three-dimensional rectangular coordinate systems are defined as follows:
(1) a coordinate system of the truck-mounted body: a coordinate system taking the forward direction of the truck as an X axis, the upper part of the truck as a Y axis and the right side of the truck as a Z axis;
(2) navigation coordinate system: a coordinate system with north as N axis, the sky as U axis and east as E axis;
the storehouse is arranged according to the horizontal and vertical grid lines, the delivery truck runs along the grid lines, the horizontal and vertical crossed grid points are called as on-site points, the on-site points contain position labels, and the delivery truck obtains the current position according to the position labels; the transverse and longitudinal grid lines are interwoven into a net hole, and a plurality of storage grids are arranged in the net hole;
the positions of the storage grids and the positioning points in the storehouse are calibrated in advance;
the position coordinate form is shown in formula (1):
(N.XXXXX，E.XXXXX) (1)
in the formula: n is the Nth motion track from south to north, E is the E motion track from west to east; xxxxxx behind N is the distance between the cart and the nearest south-bound site in cm; xxxxxx behind E is the distance between the cart and the nearest west edge location point in cm;
(1) if the truck is driving north or south along a certain track, the position coordinate is (N.XXXXX, E);
then E is the E-th north-south path where the van is currently driving, N is the east-west path closest to the south of the van, and XXXXX after decimal point is the distance between the nearest local points of the van and the south;
(2) if the truck is traveling east or west along a track, the position coordinate is (N, e.xxxxxx);
then, N is the Nth west-east path where the van is currently driving, E is the south-north path closest to the west of the van, and XXXXX after decimal point is the distance between the van and the nearest position point of the west;
starting a self-check of a micro-mechanical inertial navigation system;
the micro-mechanical inertial navigation system comprises a micro-accelerometer module and a micro-magnetometer module; when a truck is used for storing/taking goods, the micro-mechanical inertial navigation system is started up and self-checked, and sends the self-state to the control center through a wireless network in real time; if the self-checking fails, reporting a fault to a control center to wait for maintenance; if the self-checking is successful, reporting success to a control center, and sending an initial working instruction to the micro-mechanical inertial navigation system by the control center through a wireless network;
step two, initially preparing a micro-mechanical inertial navigation system;
starting position information of the micro-mechanical inertial navigation system during shutdown;
the micromechanical inertial navigation system completes initial position binding by using the position information stored in the last shutdown; the course angle of the truck is calculated by using the micro magnetometer module, and the calculation formula is as follows:
in the formula: mx、MzThe outputs of the X-direction magnetometer and the Z-direction magnetometer are respectively, and the unit is gauss;
obtaining a local declination according to the earth magnetic field mode WMM2010, wherein the unit is an angle;
the unit is a course angle, the north and the west are positive, and the range is (0 degrees and 360 degrees);
the freight train only runs along 4 movement directions, and when the storehouse is arranged in the south and east directions, only 4 course angles of the freight train are respectively 0 degree in the north direction, 90 degrees in the west direction, 180 degrees in the south direction and 270 degrees in the east direction;
therefore, the correspondence between the truck driving heading angle and the magnetic heading angle is as follows:
the micro-mechanical inertial navigation system obtains the current position and the course angle of the truck to complete initial preparation work;
step three, planning a running path of the truck;
after the preparation of the initial freight car is finished, the current position, the course and the preparation information of the initial freight car are sent to a control center; the control center plans a running path for the truck according to the current position of the truck and the position of the article to be stored/taken;
step four, autonomous navigation positioning;
after the truck receives the path planning of the control center, the truck utilizes an accelerometer of the micro-mechanical inertial navigation system to perform unidirectional positioning calculation in real time, and the calculation formula is as follows:
in the formula:
respectively outputting the specific force of the accelerometer after factory calibration compensation in m/s2；Ax、Ay、AzRespectively, the accelerometer outputs equivalent specific force along the carrier system, theoretically Ay、AzIs 0, the unit is m/s2；φx、φy、φzRespectively setting error angles between an accelerometer and a carrier coordinate system, and calibrating a micro-mechanical inertial navigation system after the micro-mechanical inertial navigation system is installed in a truck, wherein the unit is rad; v is the running speed of the truck, and the unit is m/s; v. of0The initial speed of the truck is 0, and the unit is m/s; p is the displacement of the truck in the advancing direction and the unit is m;
the calculated P value is converted into a position coordinate value appointed by the formula (1), and the micro-mechanical inertial navigation system sends the calculated position coordinate value to the control center in real time through a wireless network.
The method further comprises the following steps:
step five, zero-speed correction of errors of the micro-mechanical inertial navigation system is carried out;
the truck is stopped when waiting for commands and avoiding other vehicle conditions;
the micro-mechanical inertial navigation system automatically judges whether the truck is stopped by using the real-time output values of 3 accelerometers, and the judgment standards are as follows:
in the formula: the Gate is a threshold value and is set according to the micro-mechanical inertial navigation system and the actual use condition; and when A is less than Gate, judging that the truck is in a static state.
The micro-mechanical inertial navigation system adopts two channels to calculate:
(1) the position of one path of outward output is kept unchanged;
(2) and the other path of normal position is resolved, the accelerometer zero offset is calculated according to the speed variation, and the equivalent relation is as follows:
in the formula:
is the zero offset of an equivalent accelerometer with the unit of m/s2；Δvx、Δvy、ΔvzThe unit is the speed variation in the stationary period and is m/s; Δ t is the zero speed correction time of the truck in units of s.
The method further comprises the following steps:
sixthly, correcting errors of the micro-mechanical inertial navigation system by using the locating points;
and the truck drives to a certain in-place point, rotates according to the path plan set by the control center, and corrects the position of the micro-mechanical inertial navigation system by using the position label of the in-place point after rotating to the in-place point.
The micro-mechanical inertial navigation system solves the position information in 3 directions between two on-site points to match with the distance between the two on-site points accurately measured in advance, and calculates the zero offset of three accelerometers;
in the formula:
respectively representing the movement displacement actually measured by three accelerometers of the truck, wherein the unit is m;
is an equivalent additionSpeedometer zero offset, unit m/s2；PDatumThe actual distance between the two on-site points, namely the actual walking distance of the truck, is m; t is the travel time from one on-site to the next in units of s.
The micro-mechanical inertial navigation system is started according to the position information of the locating point; when the position information stored when the micro-mechanical inertial navigation system is shut down last time is invalid, the control center sends a forward or backward driving instruction to the truck to arrive at a nearby place for preparation; the micromechanical inertial navigation system obtains the current position by using the position label of the on-site to complete initial position binding; and (3) calculating the course angle of the truck by using the formulas (2) and (3) to finish the initial preparation work.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the invention discloses an autonomous navigation positioning method of a low-cost micro-mechanical inertial navigation system for a vehicle.
Drawings
FIG. 1 is a schematic diagram of a warehouse layout according to the present invention;
fig. 2 is a schematic view of a cart location point relationship of the present invention.
Detailed Description
The invention relates to a low-cost micro-mechanical inertial navigation system autonomous navigation positioning method for a vehicle, which is described in detail below with reference to specific embodiments.
The invention defines the following two three-dimensional rectangular coordinate systems:
(1) a coordinate system of the truck-mounted body: a coordinate system taking the forward direction of the truck as an X axis, the upper part of the truck as a Y axis and the right side of the truck as a Z axis;
(2) navigation coordinate system: a coordinate system with north as N axis, the sky as U axis and east as E axis;
as shown in fig. 1, a typical layout of a warehouse:
the storehouse is arranged according to the horizontal and vertical grid lines, the delivery truck runs along the grid lines, the horizontal and vertical crossed grid points are called as the 'on-site points', the positioning points contain 'position labels', and the delivery truck can obtain the current position according to the 'position labels'; each horizontal and vertical grid line is interwoven into a net hole, and a plurality of storage grids are arranged in the net hole and used for storing articles such as express items and the like;
the positions of the storage grids and the positioning points in the storehouse are obtained by calibration in advance;
the storehouse is a 2-dimensional horizontal plane, the micro-mechanical inertial navigation system can position the freight car by only giving transverse and longitudinal 2-position information, and the invention designs the following position coordinate form by combining the characteristic that the freight car only runs along 1 direction:
(N.XXXXX，E.XXXXX) (1)
in the formula: n is the Nth motion track from south to north in FIG. 1, E is the E motion track from west to east in FIG. 1; xxxxxx behind N is the distance between the cart and the nearest south-bound site in cm; xxxxxx behind E is the distance between the cart and the nearest west edge location point in cm;
(1) if the truck is driving north or south along a certain track, the position coordinate is (N.XXXXX, E);
then E is the E-th north-south path where the van is currently driving, N is the east-west path closest to the south of the van, and XXXXX after decimal point is the distance between the nearest local points of the van and the south; for example: coordinates (3.00050,2) refer to the position 50cm north of the locus (3, 2);
(2) if the truck is traveling east or west along a track, the position coordinate is (N, e.xxxxxx);
then, N is the Nth west-east path where the van is currently driving, E is the south-north path closest to the west of the van, and XXXXX after decimal point is the distance between the van and the nearest position point of the west; for example: the coordinates (3,2.00050) refer to the position 50cm east of the locus (3, 2).
The invention discloses an autonomous navigation positioning method of a low-cost micro-mechanical inertial navigation system for a vehicle, which comprises the following steps:
starting a self-check of a micro-mechanical inertial navigation system;
the micro-mechanical inertial navigation system comprises a micro-accelerometer module and a micro-magnetometer module; when a truck is used for storing/taking goods, the micro-mechanical inertial navigation system is started up and self-checked, and sends the self-state to the control center through a wireless network in real time; if the self-checking fails, reporting a fault to a control center, and waiting for maintenance; if the self-checking is successful, reporting success to a control center, and sending an initial working instruction to the micro-mechanical inertial navigation system by the control center through a wireless network;
step two, initially preparing a micro-mechanical inertial navigation system;
the initial preparation work mode of the micro-mechanical inertial navigation system comprises the following two working modes:
(1) starting with the position information at the last shutdown (default mode);
the micromechanical inertial navigation system completes initial position binding by using the position information stored in the last shutdown; the course angle of the truck is calculated by using the micro magnetometer module (calibrated in advance), and the calculation formula is as follows:
in the formula: mx、MzThe outputs of the X-direction magnetometer and the Z-direction magnetometer are respectively, and the unit is gauss;
obtaining a local declination according to the earth magnetic field mode WMM2010, wherein the unit is an angle;
the unit is a course angle, the north and the west are positive, and the range is (0 degrees and 360 degrees);
the truck only runs along 4 movement directions, so that only 4 course angles of the truck are respectively 0 degree in the north direction, 90 degrees in the west direction, 180 degrees in the south direction and 270 degrees in the east direction (assuming that the storehouse is arranged in the south and east directions);
therefore, the correspondence between the truck driving heading angle and the magnetic heading angle is as follows:
the micro-mechanical inertial navigation system obtains the current position and the course angle of the truck to complete initial preparation work;
(2) starting with the position information of the locating point;
when the position information stored when the micro-mechanical inertial navigation system is shut down last time is invalid, the control center sends a forward or backward driving instruction to the truck to arrive at a nearby place for preparation; the micromechanical inertial navigation system obtains the current position by using the position label of the on-site to complete initial position binding; calculating the course angle of the truck by using the formulas (2) and (3) to finish the initial preparation work;
step three, planning a running path of the truck;
after the preparation of the initial freight car is finished, the current position, the course, the readiness and other information of the initial freight car are sent to a control center; the control center plans a running path for the delivery truck according to the current position of the delivery truck and the position of the express mail to be stored/taken;
step four, autonomous navigation positioning
After the truck receives the path planning of the control center, the truck utilizes an accelerometer of the micro-mechanical inertial navigation system to perform unidirectional positioning calculation in real time, and the calculation formula is as follows:
in the formula:
respectively outputting the specific force of the accelerometer after factory calibration compensation in m/s2；Ax、Ay、AzRespectively, the accelerometer outputs equivalent specific force along the carrier system, theoretically Ay、AzIs 0, the unit is m/s2；φx、φy、φzRespectively setting error angles between an accelerometer and a carrier coordinate system, and calibrating a micro-mechanical inertial navigation system after the micro-mechanical inertial navigation system is installed in a truck, wherein the unit is rad; v is the running speed of the truck, and the unit is m/s; v. of0The initial speed of the truck is 0, and the unit is m/s; p is the displacement of the truck in the advancing direction and the unit is m;
the calculated P value is converted into a position coordinate value appointed by the formula (1), and the micro-mechanical inertial navigation system sends the calculated position coordinate value to a control center in real time through a wireless network;
step five, zero-speed correction of errors of the micro-mechanical inertial navigation system is carried out;
when the truck waits for a command, avoids other vehicles and the like, the truck stops;
the micro-mechanical inertial navigation system automatically judges whether the truck is stopped by using the real-time output values of 3 accelerometers, and the judgment standards are as follows:
in the formula: the Gate is a threshold value and is set according to the micro-mechanical inertial navigation system and the actual use condition; when A is less than Gate, judging that the delivery truck is in a static state;
the micro-mechanical inertial navigation system adopts two channels for calculation:
(1) the position of one path of outward output is kept unchanged;
(2) and the other path of normal position is resolved, the accelerometer zero offset is calculated according to the speed variation, and the equivalent relation is as follows:
in the formula:
is the zero offset of an equivalent accelerometer with the unit of m/s2；Δvx、Δvy、ΔvzThe unit is the speed variation in the stationary period and is m/s; delta t is the zero speed correction time of the truck, and the unit is s;
the calculated accelerometer zero offset value corrects the accelerometer output, so that the precision of the micro-mechanical inertial navigation system is improved;
step six, correcting errors of the micro-mechanical inertial navigation system by using the positioning points
As shown in fig. 1, when a truck travels to a certain location point, the truck rotates (such as rotates 90 degrees left and rotates 90 degrees right) according to a path plan set by a control center, and after the truck rotates to the location point, the position of the micro-mechanical inertial navigation system is corrected by using a position label of the location point;
in addition, the micro-mechanical inertial navigation system solves the position information in 3 directions between two on-site points to match with the distance between the two on-site points accurately measured in advance, and can calculate the zero offset of the three accelerometers, as shown in fig. 2 and formula (7);
in FIG. 2
Respectively representing the movement displacement actually measured by the three accelerometers of the truck;
in the formula:
is the zero offset of an equivalent accelerometer with the unit of m/s2；PDatumThe actual distance between the two on-site points, namely the actual walking distance of the truck, is m; t is the travel time from one on-site to the next in units of s; the calculated accelerometer zero offset value corrects the accelerometer output, and the precision of the micro-mechanical inertial navigation system is improved.
Claims (6)
1. The autonomous navigation positioning method of the low-cost micro-mechanical inertial navigation system for the vehicle is characterized by comprising the following steps of:
two three-dimensional rectangular coordinate systems are defined as follows:
(1) a coordinate system of the truck-mounted body: a coordinate system taking the forward direction of the truck as an X axis, the upper part of the truck as a Y axis and the right side of the truck as a Z axis;
(2) navigation coordinate system: a coordinate system with north as N axis, the sky as U axis and east as E axis;
the storehouse is arranged according to the horizontal and vertical grid lines, the delivery truck runs along the grid lines, the horizontal and vertical crossed grid points are called as on-site points, the on-site points contain position labels, and the delivery truck obtains the current position according to the position labels; the transverse and longitudinal grid lines are interwoven into a net hole, and a plurality of storage grids are arranged in the net hole;
the positions of the storage grids and the positioning points in the storehouse are calibrated in advance;
the position coordinate form is shown in formula (1):
(N.XXXXX，E.XXXXX)(1)
in the formula: n is the Nth motion track from south to north, E is the E motion track from west to east; xxxxxx behind N is the distance between the cart and the nearest south-bound site in cm; xxxxxx behind E is the distance between the cart and the nearest west edge location point in cm;
(I) if the truck is driving north or south along a certain track, the position coordinate is (N.XXXXX, E);
then E is the E-th north-south path where the van is currently driving, N is the east-west path closest to the south of the van, and XXXXX after decimal point is the distance between the nearest local points of the van and the south;
(II) if the cart is traveling east or west along a track, the position coordinate is (N, e.xxxxxx);
then, N is the Nth west-east path where the van is currently driving, E is the south-north path closest to the west of the van, and XXXXX after decimal point is the distance between the van and the nearest position point of the west;
starting a self-check of a micro-mechanical inertial navigation system;
the micro-mechanical inertial navigation system comprises a micro-accelerometer module and a micro-magnetometer module; when a truck is used for storing/taking goods, the micro-mechanical inertial navigation system is started up and self-checked, and sends the self-state to the control center through a wireless network in real time; if the self-checking fails, reporting a fault to a control center to wait for maintenance; if the self-checking is successful, reporting success to a control center, and sending an initial working instruction to the micro-mechanical inertial navigation system by the control center through a wireless network;
step two, initially preparing a micro-mechanical inertial navigation system;
starting position information of the micro-mechanical inertial navigation system during shutdown;
the micromechanical inertial navigation system completes initial position binding by using the position information stored in the last shutdown; the course angle of the truck is calculated by using the micro magnetometer module, and the calculation formula is as follows:
in the formula: mx、MzThe outputs of the X-direction magnetometer and the Z-direction magnetometer are respectively, and the unit is gauss; obtaining a local declination according to the earth magnetic field mode WMM2010, wherein the unit is an angle; the unit is a course angle, the north and the west are positive, and the range is (0 degrees and 360 degrees);
the freight train only runs along 4 movement directions, and when the storehouse is arranged in the south and east directions, only 4 course angles of the freight train are respectively 0 degree in the north direction, 90 degrees in the west direction, 180 degrees in the south direction and 270 degrees in the east direction;
therefore, the correspondence between the truck driving heading angle and the magnetic heading angle is as follows:
the micro-mechanical inertial navigation system obtains the current position and the course angle of the truck to complete initial preparation work;
step three, planning a running path of the truck;
after the preparation of the initial freight car is finished, the current position, the course and the preparation information of the initial freight car are sent to a control center; the control center plans a running path for the truck according to the current position of the truck and the position of the article to be stored/taken;
step four, autonomous navigation positioning;
after the truck receives the path planning of the control center, the truck utilizes an accelerometer of the micro-mechanical inertial navigation system to perform unidirectional positioning calculation in real time, and the calculation formula is as follows:
in the formula:
respectively outputting the specific force of the accelerometer after factory calibration compensation in m/s2；Ax、Ay、AzRespectively, the accelerometer outputs equivalent specific force along the carrier system, theoretically Ay、AzIs 0, the unit is m/s2；φx、φy、φzRespectively setting error angles between an accelerometer and a carrier coordinate system, and calibrating a micro-mechanical inertial navigation system after the micro-mechanical inertial navigation system is installed in a truck, wherein the unit is rad; v is the running speed of the truck, and the unit is m/s; v. of0The initial speed of the truck is 0, and the unit is m/s; p is the displacement of the truck in the advancing direction and the unit is m;
the calculated P value is converted into a position coordinate value appointed by the formula (1), and the micro-mechanical inertial navigation system sends the calculated position coordinate value to the control center in real time through a wireless network.
2. The autonomous navigation and positioning method of the vehicular low-cost micro-mechanical inertial navigation system according to claim 1, further comprising the following steps:
step five, zero-speed correction of errors of the micro-mechanical inertial navigation system is carried out;
the truck is stopped when waiting for commands and avoiding other vehicle conditions;
the micro-mechanical inertial navigation system automatically judges whether the truck is stopped by using the real-time output values of 3 accelerometers, and the judgment standards are as follows:
in the formula: the Gate is a threshold value and is set according to the micro-mechanical inertial navigation system and the actual use condition; and when A is less than Gate, judging that the truck is in a static state.
3. The autonomous navigation and positioning method of the vehicular low-cost micro-mechanical inertial navigation system according to claim 2, wherein the micro-mechanical inertial navigation system adopts two channels for calculation:
(1) the position of one path of outward output is kept unchanged;
(2) and the other path of normal position is resolved, the accelerometer zero offset is calculated according to the speed variation, and the equivalent relation is as follows:
in the formula:
is the zero offset of an equivalent accelerometer with the unit of m/s2；Δvx、Δvy、ΔvzThe unit is the speed variation in the stationary period and is m/s; Δ t is the zero speed correction time of the truck in units of s.
4. The autonomous navigation and positioning method of the vehicular low-cost micro-mechanical inertial navigation system according to claim 1 or 2, further comprising the following steps:
sixthly, correcting errors of the micro-mechanical inertial navigation system by using the locating points;
and the truck drives to a certain in-place point, rotates according to the path plan set by the control center, and corrects the position of the micro-mechanical inertial navigation system by using the position label of the in-place point after rotating to the in-place point.
5. The autonomous navigation and positioning method of the vehicular low-cost micro-mechanical inertial navigation system according to claim 4, characterized in that: the micro-mechanical inertial navigation system solves the position information in 3 directions between two on-site points to match with the distance between the two on-site points accurately measured in advance, and calculates the zero offset of three accelerometers;
in the formula:
respectively representing the movement displacement actually measured by three accelerometers of the truck, wherein the unit is m;
is the zero offset of an equivalent accelerometer with the unit of m/s2；PDatumThe actual distance between the two on-site points, namely the actual walking distance of the truck, is m; t is the travel time from one on-site to the next in units of s.
6. The autonomous navigation and positioning method of the vehicular low-cost micro-mechanical inertial navigation system according to claim 1, wherein the micro-mechanical inertial navigation system is started according to the location information of the location point; when the position information stored when the micro-mechanical inertial navigation system is shut down last time is invalid, the control center sends a forward or backward driving instruction to the truck to arrive at a nearby place for preparation; the micromechanical inertial navigation system obtains the current position by using the position label of the on-site to complete initial position binding; and (3) calculating the course angle of the truck by using the formulas (2) and (3) to finish the initial preparation work.
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