CN113432599A - Carrier navigation method - Google Patents
Carrier navigation method Download PDFInfo
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- CN113432599A CN113432599A CN202110567948.5A CN202110567948A CN113432599A CN 113432599 A CN113432599 A CN 113432599A CN 202110567948 A CN202110567948 A CN 202110567948A CN 113432599 A CN113432599 A CN 113432599A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 9
- 238000012937 correction Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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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
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention relates to navigation of a carrier, in particular to a carrier navigation method, which simultaneously obtains preliminary carrier speed, position and attitude information according to an inertia measurement unit and two odometers on the carrier; the inertial measurement unit sends the preliminary speed, position and attitude information of the carrier to a strapdown inertial measurement unit; processing the preliminary carrier speed, position and attitude information acquired by the two odometers by Kalman filtering according to a preset program to obtain processed data; and sending the processed data to a strapdown inertial measurement unit, wherein the strapdown inertial measurement unit navigates the carrier according to the processed data, and simultaneously sends the processed data to a fault detection module, and the fault detection module detects the speed, position and attitude information of the carrier according to the processed data. The method ensures the effectiveness of the odometer information and has a fault-tolerant function compared with a single odometer.
Description
Technical Field
The invention relates to vehicle navigation, in particular to a vehicle navigation method.
Background
Navigation refers to a technique for guiding a moving carrier to a specified target location. To accomplish the boot task, the first problem is to determine the immediate location of the carrier; in order to realize economic and rapid navigation, the motion parameters such as the speed and the posture of the carrier are measured, and the carrier is guided to rapidly and accurately drive to a set target. The basic task of navigation is to determine navigation parameters such as attitude, velocity and position of the carrier.
Vehicle navigation is typically performed using a vehicle GPS (global positioning system) in conjunction with an electronic map, which can conveniently and accurately tell the driver the shortest or fastest route to a destination. The vehicle navigation system mainly comprises a navigation host and a navigation display terminal. The built-in GPS antenna receives data information transmitted from at least 4 of the incoming GPS satellites, thereby determining the current location of the vehicle. The navigation host can determine the accurate position of the automobile in the electronic map by matching the position coordinate determined by the GPS satellite signal with the electronic map data, but in some characteristic fields, such as military field, once the navigation receives external information, the hidden characteristic of the navigation host is damaged, so that a method for navigating without receiving the external information is needed.
Disclosure of Invention
The invention aims to provide a vehicle navigation method which can carry out navigation without receiving external information.
In order to achieve the above object, the present application provides a vehicle navigation method, including:
step 1, simultaneously acquiring speed, position and attitude information of a carrier according to an Inertial Measurement Unit (IMU) and two Odometers (OD) on the carrier to acquire original measurement data; the inertial measurement unit sends the preliminary speed, position and attitude information of the carrier to a strapdown inertial measurement unit;
and 2, sending the processed data to a strapdown inertial measurement unit, wherein the strapdown inertial measurement unit navigates the carrier according to the processed data, and simultaneously sends the processed data to a fault detection module, and the fault detection module detects the speed, position and attitude information of the carrier according to the processed data. And after detection, corresponding measurement data is processed to obtain reliable observation information so as to further carry out error estimation and feedback correction of navigation parameters.
The strapdown inertial navigation and the odometer have the characteristics of independence on external equipment and no interference of external signals, so the combination is an ideal vehicle navigation scheme. In the currently disclosed literature, when the vehicle-mounted strapdown inertial navigation and the vehicle-mounted odometer are used for combined navigation, the odometer is mounted at the left side or the right side of a vehicle chassis, although the method is an effective means for autonomous combined navigation, due to the existence of mounting errors, the actual running state of the center of a vehicle body cannot be truly reflected by odometer information, and unknown navigation errors can be introduced by odometer measurement information errors, so that the positioning accuracy of the system combined navigation is influenced.
The method can install one odometer at each of the left side and the right side of the carrier chassis, designs a combined navigation fusion algorithm by taking the information of the double odometers as quantity measurement, and performs Kalman filtering combined navigation by adopting a sequential processing mode to reduce the calculated quantity; the method effectively eliminates the odometer information abnormity caused by the large-turning operation of the vehicle body or external interference, ensures the effectiveness of the odometer information, and has fault-tolerant function relative to a single odometer, thereby ensuring the positioning and orientation precision of the system.
Further, the velocity error, the attitude error and the position error are estimated through Kalman filtering.
Further, the step of obtaining processed data through kalman filtering processing of the speed, position and attitude information of the vehicle obtained by the two odometers according to a preset program comprises the step of sending the position increment of the odometer to a speed and position measuring module, and the speed and position measuring module obtains the processed data through the kalman filtering processing.
The invention is further described with reference to the following figures and detailed description. Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description. Or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart illustrating a vehicle navigation method according to the present invention.
Detailed Description
The invention will be described more fully hereinafter with reference to the accompanying drawings. Those skilled in the art will be able to implement the invention based on these teachings. Before the present invention is described in detail with reference to the accompanying drawings, it is to be noted that:
the technical solutions and features provided in the present invention in the respective sections including the following description may be combined with each other without conflict.
Moreover, the embodiments of the present invention described in the following description are generally only some embodiments of the present invention, and not all embodiments. Therefore, all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort shall fall within the protection scope of the present invention.
With respect to terms and units in the present invention. The term "comprises" and any variations thereof in the description and claims of this invention and the related sections are intended to cover non-exclusive inclusions.
Referring to fig. 1, a vehicle navigation method includes the following operations:
s1, simultaneously acquiring preliminary speed, position and attitude information of the vehicle according to the inertial measurement unit and the two odometers on the vehicle; the inertial measurement unit sends the preliminary speed, position and attitude information of the carrier to a strapdown inertial measurement unit; the preliminary vehicle speed, position, and attitude information here is raw measurement data.
And S2, sending the processed data to a strapdown inertial measurement unit, wherein the strapdown inertial measurement unit navigates the vehicle according to the processed data, and simultaneously sending the processed data to a fault detection module, and the fault detection module detects speed, position and attitude information of the vehicle according to the processed data.
The odometer typically outputs the mileage increment within a sampling time interval in a pulse count manner. And defining a coordinate system of the odometer as an m system, wherein the Y axis points to the right front along the longitudinal axis of the vehicle body, the X axis points to the right side along the transverse axis of the vehicle body, and the z axis is perpendicular to the X axis and the Y axis and forms a right-hand rectangular coordinate system. The projection of the pulse number Ni output in the sampling time interval of the odometer in an m system is written into a vector form
If the coordinate system of the carrier determined by the inertial navigation system is a system b, the projection of the position increment output by the odometer in the system b is
IMU/OD equation of state and measurement:
the OD data includes information such as the travel start and end positions of the user, time, and the like.
The state quantity is 27 dimensions, the 15-dimension and 6-dimension odometer 1 error and the 6-dimension odometer 2 error (scale factor error, pitch installation error, course installation error and lever arm error d L) containing SINS are regarded as random constants, and the state equation is as follows
In the formula
M4＝(vn×)(M1+M′)
The continuous state differential equation can be written as:
the speed measurement method is adopted, and the measurement equation is constructed as follows
The fault detection of the integrated navigation system is the reliability guarantee of the integrated navigation system, and the invention proposes to adopt residual error x aiming at the characteristics of the integrated navigation system2Verification methods are used to determine the validity of system measurement information. The method does not determine the specific cause of the fault, but only determines the effectiveness of a set of measurements in real time, and is therefore well suited for system level fault detection and isolation.
The residual error of the kalman filter in the measurement update is
Residual r of kalman filter when no fault occurskIs zero mean white Gaussian noise with a variance of
The fault detection function can be obtained as
Wherein λ iskObeying x with m degree of freedom2Distribution, i.e. λk～χ2(m) whereinm is the measurement dimension, the fault determination criterion is: if λk＞TDJudging that the fault exists; if λk＜TDIt is judged as no fault. Predetermined judgment threshold TDCan be checked by the false alarm rate2And obtaining a distribution table. When any one piece of odometer information fault at a certain moment is detected, the data of the odometer is considered to be abnormal, the current measurement is discarded, and only the state updating is carried out without carrying out the measurement updating and the filtering correction.
The sequential processing disperses the centralized processing of the measurement in the measurement updating into the sequential processing of each group, effectively reduces the calculated amount, can well identify the fault of a single sensor, and writes the measurement equation of the double-milemeter into the following form
In the method in the embodiment, the difference between the inertial navigation calculation position increment in unit time and the double-milemeter dead reckoning position increment is used as a measurement value, and a 27-dimensional strapdown inertial navigation/double-milemeter combined navigation filtering algorithm is designed. The Kalman filtering fusion algorithm adopting sequential processing effectively reduces the calculated amount, and the double-milemeter has a fault-tolerant function, can improve the stability and reliability of the system and has strong engineering realizability. The vehicle-mounted test result shows that the combination algorithm is correct and effective, the positioning result can be optimally fused, and ideal positioning and orientation precision can be achieved.
Claims (2)
1. A vehicle navigation method is characterized by comprising the following operations:
step 1, simultaneously acquiring speed, position and attitude information of a carrier according to an inertial measurement unit and two odometers on the carrier to acquire original measurement data; the inertial measurement unit sends the preliminary speed, position and attitude information of the carrier to a strapdown inertial measurement unit;
step 2, carrying out Kalman filtering processing on the carrier speed, position and attitude information acquired by the two odometers according to a preset program to obtain processed data;
and 3, sending the processed data to a strapdown inertial measurement unit, wherein the strapdown inertial measurement unit navigates the carrier according to the processed data, and simultaneously sends the processed data to a fault detection module, and the fault detection module detects the speed, position and attitude information of the carrier according to the processed data.
2. The vehicle navigation method of claim 1, wherein the obtaining the processed data of the vehicle speed, position, and attitude information of the two odometers through kalman filtering according to the predetermined procedure comprises sending odometer position increments to a speed and position measurement module, and the speed and position measurement module obtaining the processed data through the kalman filtering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110567948.5A CN113432599A (en) | 2021-05-24 | 2021-05-24 | Carrier navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110567948.5A CN113432599A (en) | 2021-05-24 | 2021-05-24 | Carrier navigation method |
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| Publication Number | Publication Date |
|---|---|
| CN113432599A true CN113432599A (en) | 2021-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110567948.5A Pending CN113432599A (en) | 2021-05-24 | 2021-05-24 | Carrier navigation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113432599A (en) |
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2021
- 2021-05-24 CN CN202110567948.5A patent/CN113432599A/en active Pending
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