CN114674313B - Unmanned distribution vehicle navigation positioning method based on CKF algorithm and integrating GPS/BDS and SINS - Google Patents
Unmanned distribution vehicle navigation positioning method based on CKF algorithm and integrating GPS/BDS and SINS Download PDFInfo
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- CN114674313B CN114674313B CN202210332360.6A CN202210332360A CN114674313B CN 114674313 B CN114674313 B CN 114674313B CN 202210332360 A CN202210332360 A CN 202210332360A CN 114674313 B CN114674313 B CN 114674313B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005259 measurement Methods 0.000 claims abstract description 65
- 239000011159 matrix material Substances 0.000 claims abstract description 12
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 9
- 239000013598 vector Substances 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- G01C21/10—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
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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
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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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)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
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Application Number | Priority Date | Filing Date | Title |
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CN202210332360.6A CN114674313B (en) | 2022-03-31 | 2022-03-31 | Unmanned distribution vehicle navigation positioning method based on CKF algorithm and integrating GPS/BDS and SINS |
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CN202210332360.6A CN114674313B (en) | 2022-03-31 | 2022-03-31 | Unmanned distribution vehicle navigation positioning method based on CKF algorithm and integrating GPS/BDS and SINS |
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Publication Number | Publication Date |
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CN114674313A CN114674313A (en) | 2022-06-28 |
CN114674313B true CN114674313B (en) | 2023-04-04 |
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CN202210332360.6A Active CN114674313B (en) | 2022-03-31 | 2022-03-31 | Unmanned distribution vehicle navigation positioning method based on CKF algorithm and integrating GPS/BDS and SINS |
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Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN116224407B (en) | 2023-05-06 | 2023-07-18 | 山东科技大学 | GNSS and INS integrated navigation positioning method and system |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102636798B (en) * | 2012-04-12 | 2013-10-02 | 南京航空航天大学 | SINS (Strap-down Inertial Navigation System)/GPS (Global Position System) deeply-coupled navigation method based on loop state self-detection |
CN103454662B (en) * | 2013-09-04 | 2016-06-29 | 哈尔滨工程大学 | A kind of SINS/ Big Dipper/DVL based on CKF combines alignment methods |
CN105737823B (en) * | 2016-02-01 | 2018-09-21 | 东南大学 | A kind of GPS/SINS/CNS Combinated navigation methods based on five rank CKF |
CN106780699B (en) * | 2017-01-09 | 2020-10-16 | 东南大学 | Visual SLAM method based on SINS/GPS and odometer assistance |
US11703353B2 (en) * | 2019-12-05 | 2023-07-18 | Spireon, Inc. | Error correction for GPS-based mileage tracking |
CN112146655B (en) * | 2020-08-31 | 2023-03-31 | 郑州轻工业大学 | Elastic model design method for BeiDou/SINS tight integrated navigation system |
CN111982126B (en) * | 2020-08-31 | 2023-03-17 | 郑州轻工业大学 | Design method of full-source BeiDou/SINS elastic state observer model |
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Effective date of registration: 20240808 Address after: E056, Unit 06, Building 06, Phase II R&D Building, Laser Engineering Design Headquarters, No. 3 Guanggu Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province, 430000 (Wuhan Free Trade Zone Wuhan Area) Patentee after: Wuhan Jianan Ying Technology Co.,Ltd. Country or region after: China Address before: 230000 Room 203, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Hefei Jiuzhou Longteng scientific and technological achievement transformation Co.,Ltd. Country or region before: China |