CN114111792A - 一种车载gnss/ins/里程计组合导航方法 - Google Patents
一种车载gnss/ins/里程计组合导航方法 Download PDFInfo
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- CN114111792A CN114111792A CN202111388610.XA CN202111388610A CN114111792A CN 114111792 A CN114111792 A CN 114111792A CN 202111388610 A CN202111388610 A CN 202111388610A CN 114111792 A CN114111792 A CN 114111792A
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- gnss
- kalman filtering
- lever arm
- ins
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000001914 filtration Methods 0.000 claims abstract description 67
- 239000013598 vector Substances 0.000 claims abstract description 52
- 238000005259 measurement Methods 0.000 claims abstract description 49
- 230000000694 effects Effects 0.000 claims abstract description 40
- 239000011159 matrix material Substances 0.000 claims description 80
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 16
- 235000011613 Pinus brutia Nutrition 0.000 claims description 16
- 241000018646 Pinus brutia Species 0.000 claims description 16
- 230000007704 transition Effects 0.000 claims description 15
- 238000003491 array Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005295 random walk Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
Description
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Priority Applications (1)
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CN202111388610.XA CN114111792B (zh) | 2021-11-22 | 2021-11-22 | 一种车载gnss/ins/里程计组合导航方法 |
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CN202111388610.XA CN114111792B (zh) | 2021-11-22 | 2021-11-22 | 一种车载gnss/ins/里程计组合导航方法 |
Publications (2)
Publication Number | Publication Date |
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CN114111792A true CN114111792A (zh) | 2022-03-01 |
CN114111792B CN114111792B (zh) | 2024-02-20 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114637036A (zh) * | 2022-05-18 | 2022-06-17 | 深圳华大北斗科技股份有限公司 | 非完整性约束自适应量测噪声方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104019828A (zh) * | 2014-05-12 | 2014-09-03 | 南京航空航天大学 | 高动态环境下惯性导航***杆臂效应误差在线标定方法 |
US20150276413A1 (en) * | 2014-03-31 | 2015-10-01 | Honeywell International Inc. | Global positioning system (gps) self-calibrating lever arm function |
CN106969762A (zh) * | 2017-01-12 | 2017-07-21 | 广州市泰斗鑫信息科技有限公司 | 一种用于GNSS+INS+odo的组合导航方法 |
CN107656301A (zh) * | 2017-09-20 | 2018-02-02 | 北京航天发射技术研究所 | 一种基于多源信息融合的车载定位方法 |
CN108225312A (zh) * | 2017-12-27 | 2018-06-29 | 中国电子科技集团公司第五十四研究所 | 一种gnss/ins松组合中杆臂估计以及补偿方法 |
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2021
- 2021-11-22 CN CN202111388610.XA patent/CN114111792B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150276413A1 (en) * | 2014-03-31 | 2015-10-01 | Honeywell International Inc. | Global positioning system (gps) self-calibrating lever arm function |
CN104019828A (zh) * | 2014-05-12 | 2014-09-03 | 南京航空航天大学 | 高动态环境下惯性导航***杆臂效应误差在线标定方法 |
CN106969762A (zh) * | 2017-01-12 | 2017-07-21 | 广州市泰斗鑫信息科技有限公司 | 一种用于GNSS+INS+odo的组合导航方法 |
CN107656301A (zh) * | 2017-09-20 | 2018-02-02 | 北京航天发射技术研究所 | 一种基于多源信息融合的车载定位方法 |
CN108225312A (zh) * | 2017-12-27 | 2018-06-29 | 中国电子科技集团公司第五十四研究所 | 一种gnss/ins松组合中杆臂估计以及补偿方法 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114637036A (zh) * | 2022-05-18 | 2022-06-17 | 深圳华大北斗科技股份有限公司 | 非完整性约束自适应量测噪声方法 |
CN114637036B (zh) * | 2022-05-18 | 2022-08-19 | 深圳华大北斗科技股份有限公司 | 非完整性约束自适应量测噪声方法 |
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Inventor after: Qin Chao Inventor after: Zhang Shuo Inventor after: Huang Yuanqing Inventor after: Zhang Zhenjiang Inventor after: Wang Yihuan Inventor after: Dong Jiangwei Inventor before: Qin Chao Inventor before: Zhang Shuo Inventor before: Huang Yuanqing Inventor before: Zhang Zhenjiang Inventor before: Wang Yihuan Inventor before: Dong Jiangwei |
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