CN101936737B - Inertial navigation system and navigation method - Google Patents
Inertial navigation system and navigation method Download PDFInfo
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- CN101936737B CN101936737B CN 200910150056 CN200910150056A CN101936737B CN 101936737 B CN101936737 B CN 101936737B CN 200910150056 CN200910150056 CN 200910150056 CN 200910150056 A CN200910150056 A CN 200910150056A CN 101936737 B CN101936737 B CN 101936737B
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Abstract
The invention discloses an inertial navigation system and a navigation method. The inertial navigation system comprises a track calculator, an error correction unit and a storage unit. The track calculator is used for calculating the position and direction of a moving object according to motion information of the moving object. The error correction unit is coupled with the track calculator and used for correcting the position and the direction of the moving object according to road reference information. The error correction unit comprises a steering angle ALU, and a controller coupled to the steering angle ALU and used for indicating the track calculator to correct the position and the direction of the moving object according to the steering angle, the position and the direction of the moving object, and the geographic information of a road. The storage unit is coupled to the error correction unit and used for storing geographic information of a road network and providing the road reference information according to the geographic information of the road network. In the invention, the errors of the navigation positioning information can be corrected according to the navigation map so as to further improve positioning accuracy and reliability of the inertial navigation system.
Description
Technical field
The invention relates to airmanship, especially about a kind of inertial navigation system and air navigation aid.
Background technology
A kind of as in the navigational system, inertial navigation system comprises an arithmetical unit and a plurality of motion sensor, is used for calculating constantly position, deflection, speed and other locating information of mobile object.Inertial navigation system or same category of device also can be called as inertial guidance system, inertial reference platform etc.
When inertial navigation system starts, by the external world (for example, artificial or GPS receivers etc.) the input initial navigation information (for example, the initial position of mobile object and direction), the movable information of the mobile object that will be measured by motion sensor subsequently (for example, linear velocity and angular velocity) be added to initial navigation information, by calculating the navigation information of the mobile object that obtains renewal.Yet trueness error and the measuring error of motion sensor (for example, gyroscope and accelerometer) can add up in computation process gradually.After through one relatively long period, cumulative errors will cause relatively large between the real motion track of the movement locus that calculated by inertial navigation system and mobile object and can't unheeded deviation.
The inertial navigation system that is illustrated in figure 1 as prior art causes signal Figure 100 of deviations owing to cumulative errors.The track circuit of the mobile object that circuit 102 expression is calculated by inertial navigation system.The real trace circuit of circuit 104 expression mobile objects.
The arithmetical unit of the inertial navigation system of prior art can calculate according to movable informations such as the linear velocity of the mobile object that measures and angular velocity the movement locus of mobile object.Because trueness error and the measuring error of motion sensor, may there be deviation in the linear velocity and the angular velocity that are measured by motion sensor with true line speed and the angular velocity of moving object.Therefore, when mobile object straight-line travelling from east to west, and when north orientation is turned at the parting of the ways, if the linear velocity that measures is greater than the true line speed of mobile object, with respect to real trace circuit 104, the track circuit 102 that calculates can westwards be offset so.In addition, if the angular velocity that measures less than the true angular velocity of mobile object, so with respect to real trace circuit 104, the direction of the track circuit 102 that calculates can counterclockwise deviation angle θ.
Therefore, the difference that exists between the real trace circuit 104 of the track circuit 102 that calculates of the inertial navigation system of prior art and moving object can affect the performance of navigational system.
Summary of the invention
The technical problem to be solved in the present invention is to provide an inertial navigation system, can revise constantly the error of navigator fix information, thereby improves bearing accuracy and the reliability of navigational system.
For solving the problems of the technologies described above, the invention provides a kind of inertial navigation system, can be according to the error of navigation map correction navigator fix information.This inertial navigation system comprises: be used for calculating the position of mobile object and the track arithmetical unit of direction according to the movable information of mobile object; Be coupled in the error correction unit of track arithmetical unit, can be according to position and the direction of road reference information correction mobile object, wherein the error correction unit comprises the steering angle arithmetical unit for the steering angle of based on motion information calculations mobile object, and the controller that is coupled in the steering angle arithmetical unit, be used for according to the steering angle of mobile object, position and direction and the road reference information of mobile object position and the direction of indication track arithmetical unit correction mobile object; And the storage unit that is coupled in the error correction unit, be used for the geography information of memory track road network, and provide the road reference information according to the geography information of road net.
The present invention also provides a kind of inertial navigation method, comprises the steps: at first, calculates position and the direction of this mobile object according to the movable information of mobile object; Subsequently, according to the road reference information position and the direction of mobile object are carried out error correction, it comprises the steering angle that is calculated mobile object by the steering angle arithmetical unit according to movable information, then by the controller that is coupled in this steering angle arithmetical unit according to the steering angle of mobile object, position and direction and the road reference information of mobile object, position and the direction of indication track arithmetical unit correction mobile object; At last, the geography information according to the road net that is stored in storage unit provides the road reference information.
Compared with prior art, the invention provides a kind of inertial navigation system and air navigation aid, can be according to the error of navigation map correction navigator fix information, thus further improve bearing accuracy and the reliability of inertial navigation system.
Description of drawings
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is described in detail, so that the features and advantages of the present invention are more obvious.Wherein:
The inertial navigation system that Figure 1 shows that prior art causes the schematic diagram of deviations owing to cumulative errors;
Figure 2 shows that the structured flowchart that carries out the inertial navigation system of error correction based on navigation map according to an embodiment of the invention;
Figure 3 shows that schematic block diagram of carrying out the inertial navigation system of error correction based on navigation map according to an embodiment of the invention;
Figure 4 shows that the schematic diagram of the position of the mobile object that correction calculates based on navigation map according to an embodiment of the invention;
Figure 5 shows that the schematic diagram of the direction of the mobile object that correction calculates based on navigation map according to an embodiment of the invention;
Figure 6 shows that the schematic diagram of the position of the mobile object that correction calculates based on navigation map according to an embodiment of the invention;
Figure 7 shows that according to an embodiment of the invention by the performed method flow diagram according to the navigation map round-off error of inertial navigation system;
Figure 8 shows that according to an embodiment of the invention based on the method flow diagram of navigation map correction by the navigation information of inertial navigation system generation.
Embodiment
Below will provide detailed explanation to embodiments of the invention.Although the present invention sets forth in connection with embodiment, being interpreted as this is not to mean the present invention is defined in these embodiment.On the contrary, but the present invention be intended to contain in the spirit and scope of the invention that is defined by claims defined various option modification items and be equal to item.
In addition, in following detailed description of the present invention, to understand completely in order providing for of the present invention, to have illustrated a large amount of details.Yet it will be understood by those skilled in the art that does not have these details, and the present invention can implement equally.In some other examples, scheme, flow process, element and the circuit known for everybody are not described in detail, so that highlight purport of the present invention.
The present invention is according to the cumulative errors of the road reference information correction inertial navigation system of being indicated by navigation map, thus the degree of accuracy of raising navigational system.Figure 2 shows that the structured flowchart that carries out the inertial navigation system 200 of error correction based on navigation map according to an embodiment of the invention.Inertial navigation system 200 can be combined with other navigational system.For example, the inertial navigation system 200 tracing and positioning mobile object that can combine with gps system, thus improve degree of accuracy and the performance of existing navigational system.
As shown in Figure 2, inertial navigation system 200 comprises a plurality of motion sensors that are coupled in mobile object (for example, vehicle), so that the movable information of mobile object to be provided.Motion sensor comprises can be according to the gyroscope 202 of the angular velocity of the input signal measuring vehicle of vehicle, and can be according to the mileometer 204 of the linear velocity of the input signal measuring vehicle of vehicle.
When inertial navigation system 200 started, track arithmetical unit 208 can add up with position and the direction of vehicle in previous moment according to the line of vehicles speed that measures and angular velocity, by periodically calculating and upgrade current location and the direction of vehicle.
In one embodiment, inertial navigation system 200 adopts World Geodetic System (World Geodetic System, WGS).WGS is a standard criterion that is used for navigator fix, and it has defined the conventional coordinates of the earth.In the conventional coordinates of the earth, the position of vehicle is comprised of longitude component and latitude component.By upgrading longitude component and latitude component, can upgrade the particular location of vehicle.Longitude component and the latitude component of the vehicle location that can obtain upgrading according to following equation (1):
Wherein, newLon represents the longitude component of vehicle current location; NewLat represents the latitude component of vehicle current location; OldLon represents the longitude component of vehicle previous moment position; OldLat represents the latitude component of vehicle previous moment position; V
EThe east component of expression line of vehicles speed; V
NThe north component of expression line of vehicles speed; T represents linear velocity V
DRUnit interval (for example, 1 second); R represents the distance of the position of vehicle previous moment liftoff ball conventional coordinates initial point.
Can calculate the direction of vehicle according to following equation (2):
newOri＝oldOri+V
A*T (2)
Wherein, newOri represents the current direction of vehicle; OldOri represents the direction of vehicle previous moment; V
AThe angular velocity that the vehicle that expression is measured by gyroscope 202 is current; T represents the unit interval (for example, 1 second) of vehicle angular velocity.
In addition, when inertial navigation system 200 starts, can be comprised by extraneous (for example, artificial or GPS receiver etc.) initial navigation information of the initial position of vehicle and inceptive direction etc. to 208 inputs of track arithmetical unit.Track arithmetical unit 208 can be cumulative with the line of vehicles speed that measures and angular velocity and initial navigation information, by calculating the first constantly position and direction of vehicle.
Thus, thus the movement locus that the position that track arithmetical unit 208 can be by being updated periodically vehicle and direction are determined vehicle, and the movement locus of vehicle is sent to display screen 214.Simultaneously, display screen 214 also can obtain navigation map from map storage unit 212, movement locus and the navigation map of vehicle is complementary, and the navigation map shows the movement locus of vehicle on display screen 214.
If the steering angle of vehicle is (for example, from 60 degree to 120 degree) in a preset range, error correction unit 206 can think that vehicle just turns round at the place, crossing.If the steering angle of vehicle is less than a preset value (for example, 20 degree), error correction unit 206 can think that vehicle just keeps straight at road.
Please consult simultaneously Fig. 4, if vehicle is at crossing C
1Turn to road R
2, error correction unit 206 will calculate and registration of vehicle at crossing C
1The position at place, and the navigation map that obtains in the map storage unit 212 obtains crossing C
1The reference position.Subsequently, if vehicle continues at road R
2Upper craspedodrome, error correction unit 206 with vehicle at crossing C
1Position and crossing C that the place calculates
1The reference position compare.If vehicle is at crossing C
1Position and crossing C that the place calculates
1The reference position between difference greater than a predetermined threshold P
THR, the current location of the vehicle that track arithmetical unit 208 obtains according to the navigation map corrected Calculation can be indicated in error correction unit 206.
Please consult simultaneously Fig. 5, if vehicle is at road R
1Upper craspedodrome, error correction unit 206 can calculate and obtain from track arithmetical unit 208 the current direction of vehicle, and the navigation map that obtains in the map storage unit 212 obtains road R
1Reference direction.Subsequently, error correction unit 206 calculates vehicle current direction and the road R that obtains
1Reference direction compare.If vehicle calculates current direction and the road R that obtains
1Reference direction between difference greater than a predetermined threshold O
THR, the current direction of the vehicle that track arithmetical unit 208 obtains according to the navigation map corrected Calculation can be indicated in error correction unit 206.
In addition, please consult simultaneously Fig. 6, if vehicle is at road R
1Upper craspedodrome, and the current direction of vehicle and road R
1Reference direction between difference less than predetermined threshold O
THR, error correction unit 206 can periodically calculate current location and the target road R that obtains vehicle
1The reference route between vertical range.The reference route of each the bar road that shows in the navigation map as previously mentioned, all can be regarded as having the line segment of starting point and terminal point.If calculate current location and the target road R of the vehicle that obtains
1The reference route between vertical range greater than a predetermined threshold value D
THR, error correction unit 206 can indicate track arithmetical unit 208 will calculate the current location correction of the vehicle that obtains to target road R
1The reference route on correspondence position.
Thus, track arithmetical unit 208 can be based on next position and the direction of revised position and direction calculating vehicle.
Figure 3 shows that schematic block diagram of carrying out the inertial navigation system 300 of error correction based on navigation map according to an embodiment of the invention.The unit identical with mark among Fig. 2 has similar function, for brevity, will not carry out repeatability to it at this and describe.Fig. 3 is described in connection with Fig. 2.
In error correction unit 206, the angular velocity that steering angle arithmetical unit 302 can be used for measuring according to gyroscope 202 periodically calculates the steering angle of mobile object (for example, vehicle).Controller 304 can monitor according to the steering angle of vehicle the running status of vehicle, and controls vehicle location and the direction that track arithmetical unit 208 corrected Calculation obtain according to the corresponding running status of vehicle.The running status of vehicle is included in the place, crossing and turns and keep straight at road.
In operating process, steering angle arithmetical unit 302 periodically receives the angular velocity that measures from gyroscope 202, and according to the steering angle of angular speed calculation vehicle.Or rather, gyroscope 202 periodically measuring vehicle angular velocity and angular velocity is sent to steering angle arithmetical unit 302.Steering angle arithmetical unit 302 can be stored in the storage unit (not shown) according to the sending order of gyroscope 202 magnitude of angular velocity with some.Steering angle arithmetical unit 302 can calculate according to following equation (3) the current steering angle of vehicle:
θ＝V
A1*T
1+V
A2*T
2+V
A3*T
3+...+V
An*T
n (3)
Wherein, θ represents the steering angle of vehicle; V
A1, V
A2... and V
AnOrder of representation is stored in the vehicle angular velocity in the storage unit; T
1, T
2... and T
nThe magnitude of angular velocity V that expression is measured
A1, V
A2... and V
AnBetween the time interval.Wherein, magnitude of angular velocity V
A1, V
A2... and V
AnThat proceeding measurement obtains.
For example, gyroscope is measured the angular velocity of a vehicle 202 p.s.s.5 angular velocity V that steering angle arithmetical unit 302 will be sent by gyroscope 202 in order
A1, V
A2, V
A3, V
A4And V
A5Deposit in the storage unit.Subsequently, can calculate according to following equation (4) steering angle of vehicle:
θ＝V
A1+V
A2+V
A3+V
A4+V
A5 (4)
Calculate after the steering angle of vehicle, steering angle arithmetical unit 302 can continue to calculate according to one group of new vehicle magnitude of angular velocity the next steering angle of vehicle.In order to obtain one group of new magnitude of angular velocity, steering angle arithmetical unit 302 will be deleted the magnitude of angular velocity that measures the earliest (for example, angular velocity V as mentioned above from storage unit
A1), and with the current up-to-date magnitude of angular velocity V that measures
A (N+1)Deposit in the storage unit in order.Like this, next steering angle can be based on one group of new magnitude of angular velocity V
A2, V
A3, V
A4... and V
A (N+1)Calculate according to equation (3).
In one embodiment, steering angle arithmetical unit 302 periodically is sent to controller 304 with vehicle angular velocity.Controller 304 can determine that whether vehicle keeps straight in the turning of place, crossing or at road in section sometime according to the Vehicular turn angle.If the Vehicular turn corner enters (for example, from 60 degree to 120 degree) in the preset range, controller 304 can judge that vehicle is in the turning of place, crossing.If the Vehicular turn angle is less than a preset value (for example, 20 degree), controller 304 can judge that vehicle keeps straight at road.
According to the corresponding running status of vehicle, controller 304 can obtain vehicle location and the direction that calculates from track arithmetical unit 208.Controller 304 also can obtain corresponding road reference position and direction according to the navigation map that is stored in the map storage unit 212.Subsequently, controller 304 can compare the vehicle location that calculates and direction and corresponding road reference position and direction, and the vehicle location and the direction that obtain according to comparative result indication track arithmetical unit 208 corrected Calculation.
Figure 4 shows that the schematic diagram 400 of the position of the mobile object that correction calculates based on navigation map according to an embodiment of the invention.Fig. 4 is described in connection with Fig. 2 and Fig. 3.
As shown in Figure 4, the running orbit of the mobile object (for example, vehicle) that calculated by the track arithmetical unit 208 in the inertial navigation system 200 of line segment 402 and line segment 406 expressions.Dotted line 404 expression road R
2Route, i.e. the real trace of vehicle.As previously mentioned, be stored in the road on the navigation map of map storage unit 212, can be considered as having the line segment of starting point and terminal point.
When vehicle at road R
1On travel from east to west, and at corner C
1Place's north orientation goes to road R
2Subsequently, vehicle is at road R
2Upper craspedodrome.When vehicle at corner C
1After the place turns, if the line of vehicles speed that is measured by mileometer 204 greater than the true line speed of vehicle, so with respect to the real trace 404 that represent vehicle, may be western to skew by the vehicle movement track 402 that track arithmetical unit 208 calculates.
For the position skew of the vehicle movement track 402 that reduces to calculate, error correction unit 206 will monitor the running status of vehicle.If vehicle is at corner C
1The place turns to road R
2, and keep straight on afterwards the vehicle location that error correction unit 206 will calculate based on the navigation map correction that is stored in the map storage unit 212 at road R2.
In one embodiment, the running status of vehicle is judged at the Vehicular turn angle that periodically measures according to steering angle arithmetical unit 302 of controller 304.If vehicle is at corner C
1The place turns to road R
2, the Vehicular turn angle that is measured by steering angle arithmetical unit 302 will fall in the preset range, for example, and from 60 degree to 120 degree.Therefore, controller 304 will obtain vehicle at corner C from track arithmetical unit 208
1Position O when the place turns
V, and it is stored in the storage unit (not being shown on the figure).Controller 304 also obtains road R from map storage unit 212
2The reference position O of starting point
REF, this reference position O
REFAlso be corner C simultaneously
1The position, and with this reference position O
REFBe stored in the storage unit.
When vehicle at corner C
1After the place turns, controller 304 will monitor the running status of vehicle constantly in a predetermined amount of time.If within a predetermined period of time, the steering angle of the vehicle that is measured by steering angle arithmetical unit 302 is less than a preset value (for example 20 degree), and controller 304 can judge that vehicle is at corner C
1The place turns to road R
2After, at road R
2Upper craspedodrome.Therefore, controller 304 can be with the vehicle location O that before was stored in the storage unit
VWith reference position O
REFCompare.Through behind this predetermined amount of time, Vehicle Driving Cycle is to position P
1
If vehicle location O
VWith reference position O
REFBetween difference greater than a preset value, track arithmetical unit 208 is with the current location P of vehicle
1Revise the position P to the real trace 404 of vehicle
2In one embodiment, but track arithmetical unit 208 calculating location P
1With position O
VBetween distance.Subsequently, because position P
2With position O
REFBetween distance should with position P
1With position O
VBetween distance identical, thereby determine P
2Position on the real trace 404 of vehicle.Track arithmetical unit 208 can be based on revised position P
2The running orbit 406 of the vehicle that renewal calculates.Thus, even there are cumulative errors in mileometer 204, the running orbit of the vehicle that also can obtain according to the navigation map corrected Calculation.
If in this section predetermined amount of time, any one steering angle of the vehicle that is measured by steering angle arithmetical unit 302 is greater than preset value (for example, 20 degree), controller 304 can think when vehicle at corner C
1After the place turns, within a predetermined period of time, not at road R
2Upper maintenance straight-line travelling state.Therefore, controller 304 is deleted the vehicle location O that records from storage unit
VWith reference position O
REFController 304 monitors the running status of vehicle constantly.Turn and keep straight on a period of time in another corner when vehicle, the vehicle location that is calculated by track arithmetical unit 208 can be corrected.
Figure 5 shows that the schematic diagram 500 of the direction of the mobile object that correction calculates based on navigation map according to an embodiment of the invention.Fig. 5 is described in connection with Fig. 2 and Fig. 3.
As shown in Figure 5, the vehicle operating track that calculated by track arithmetical unit 208 of line segment 502 and 506 expressions.Dotted line 504 expression road R
1Route, i.e. the true running orbit of vehicle.When vehicle at road R
1During upper straight-line travelling, the running orbit 502 that the cumulative errors of gyroscope 202 will cause calculating is compared with the true running orbit 504 of vehicle, has the direction skew.
For the direction side-play amount of the running orbit 502 that reduces to calculate, when vehicle at road R
1During upper straight-line travelling, the direction of traffic that error correction unit 206 will calculate based on the navigation map corrections that are stored in the map storage unit 212.
In one embodiment, controller 304 is judged the running status of vehicle according to the Vehicular turn angle that is periodically measured by steering angle arithmetical unit 302.In one embodiment, controller 304 from vehicle at position O
VThe time begin to monitor the running status of vehicle.If within a predetermined period of time, all less than a preset value (for example, 20 degree), controller 304 can think that vehicle is at road R at the Vehicular turn angle that is calculated by steering angle arithmetical unit 302
1Upper straight-line travelling.At this moment, controller 304 obtains the direction of traffic that calculates from track arithmetical unit 208, and obtains the reference direction of the true running orbit 504 of vehicle from map storage unit 212.Subsequently, controller 304 compares the reference direction of the true running orbit 504 of the direction of traffic that calculates and vehicle.Through after the predetermined amount of time, vehicle in-position P
1
If the difference θ between the reference direction of the true running orbit 504 of the direction of motion of the vehicle that calculates and vehicle is greater than a predetermined threshold value O
THR, track arithmetical unit 208 is the reference direction of road with the current adjustment in direction of the vehicle that calculates.Track arithmetical unit 208 will be based on revised direction from position P
1Begin to upgrade the movement locus 506 of the vehicle that calculates.Thus, even there are cumulative errors in gyroscope 202, the running orbit of the vehicle that also can obtain based on the navigation map corrected Calculation.
Figure 6 shows that the schematic diagram 600 of the position of the mobile object that correction calculates based on navigation map according to an embodiment of the invention.Fig. 6 is described in connection with Fig. 2 and Fig. 3.
As shown in Figure 6, the running orbit of the vehicle that calculated by track arithmetical unit 208 of line segment 602,606 and 608 expressions.Dotted line 604 expression road R
1Route, i.e. the true running orbit of vehicle.When vehicle at road R
1During upper craspedodrome, the direction difference between the running orbit 602 of the vehicle that calculates and the true running orbit 604 of vehicle may be less than above-mentioned preset value O
THR, the direction of the running orbit 602 of the vehicle that therefore need not corrected Calculation obtains.Yet the running orbit 602 that this direction difference may cause the vehicle that calculates departs from gradually with the true running orbit 604 of vehicle.If the direction difference between the true running orbit 604 of the running orbit 602 of the vehicle that calculates and vehicle greater than certain threshold value, will impact the setting accuracy of system 200.
For the position skew with respect to the true running orbit 604 of vehicle of the running orbit 602 of the vehicle that reduces to calculate, when vehicle at road R
2During upper straight-line travelling, the vehicle location that error correction unit 206 can calculate based on the navigation map correction that is stored in the map storage unit 212.
After this, controller 304 will periodically obtain the vehicle location that calculates from track arithmetical unit 208, and calculate by the vertical range of vehicle location to the true running orbit 604 of vehicle.As vertical range D
1Greater than a predetermined threshold value D
THRThe time, vehicle operating this moment is to position P
1, track arithmetical unit 208 is with the current location P of the vehicle that calculates
1Revise the position P to the true running orbit 604 of vehicle
2The place.Position P
1With position P
2Between line perpendicular to the true running orbit 604 of vehicle.
Track arithmetical unit 208 will be based on revised position P
2Calculate and upgrade the running orbit 606 of vehicle.Controller 304 will continue periodically to obtain the vehicle location that calculates from track arithmetical unit 208, and calculate by the vertical range of vehicle location to the true running orbit 604 of vehicle.In case calculate by the position P on the running orbit 606 of vehicle
3To the vertical range of the true running orbit 604 of vehicle greater than predetermined threshold value D
THR, track arithmetical unit 208 is with the current location P of the vehicle that calculates
3Revise the position P to the true running orbit 604 of vehicle
4Position P
3With position P
4Between line perpendicular to the true running orbit 604 of vehicle.This shows, even the direction difference between the true running orbit of the running orbit of the vehicle that calculates and vehicle is less than predetermined threshold value O
THR, also can be according to the running orbit of navigation map correction vehicle.
Figure 7 shows that according to an embodiment of the invention by the performed method flow diagram 700 according to the navigation map round-off error of inertial navigation system (for example, inertial navigation system 200 shown in Figure 2).Fig. 7 is described in connection with Fig. 2.In square frame 702, start inertial navigation system 200.In square frame 704, but the movable information of track arithmetical unit 208 movement-based objects calculates position and the direction of mobile object.In an embodiment, the movable information of mobile object can comprise linear velocity and the angular velocity of the mobile object that is measured respectively by mileometer 204 and gyroscope 202.In square frame 706, the navigation map of the geography information that is used to indicate road net of storage in the storage unit 212 provides the road reference information according to the map.
In square frame 708, position and the direction of the mobile object that error correction unit 206 can be calculated by track arithmetical unit 208 according to the correction of road reference information.In one embodiment, according to the different running statuses of mobile object, error correction unit 206 compares with the position of mobile object and/or direction and by reference position and/or the direction of road reference information indication.The running status of mobile object is included in the place, crossing and turns and keep straight at road.Subsequently, error correction unit 206 is the result based on the comparison, position and the direction of the mobile object that obtains according to the navigation map corrected Calculation.
In square frame 710, position and the direction of mobile object is shown on the display screen 214.
Figure 8 shows that according to an embodiment of the invention based on the method flow diagram 800 of navigation map correction by the navigation information of inertial navigation system (for example, inertial navigation system 200 shown in Figure 2) generation.Fig. 8 is described in connection with Fig. 2 and Fig. 3.
In square frame 802, the movable information of steering angle arithmetical unit 302 movement-based objects calculates the steering angle θ of mobile object in the Preset Time section.In one embodiment, can calculate steering angle θ according to the magnitude of angular velocity of the some that is measured constantly by gyroscope 202 and sequentially send.Can calculate steering angle θ according to following equation (5):
θ＝V
A1*T
1+V
A2*T
2+V
A3*T
3+...+V
An*T
n (5)
Wherein, θ represents the steering angle of mobile object; V
A1, V
A2... and V
AnOrder of representation is stored in the mobile object magnitude of angular velocity in the storage unit; T
1, T
2... and T
nThe magnitude of angular velocity V that expression is measured
A1, V
A2... and V
AnBetween the time interval.Wherein, magnitude of angular velocity V
A1, V
A2... and V
AnThat proceeding measurement obtains.
In square frame 804, if steering angle θ falls into (for example, 60 degree＜θ＜120 degree) in the preset range (θ 1, and θ 2), the expression mobile object turns to road R at the place, crossing
1, process flow diagram 800 turns to square frame 806.In square frame 806, controller 304 obtains the current location P of the mobile object that calculates from track arithmetical unit 208
1And it is stored in the storage unit.Controller 304 also obtains the reference position P at this crossing according to the navigation map that is stored in the map storage unit 212
REF, and it is stored in the storage unit.Subsequently, controller 304 monitors the motion state of mobile object constantly.
In square frame 808, steering angle arithmetical unit 302 calculates when mobile object and turns to road R
1Rear in the Preset Time section the next steering angle θ ' of mobile object.In square frame 810, if the next steering angle θ ' of mobile object is less than a predetermined threshold value θ
THR, the expression mobile object is turned rear at road R at the place, crossing
1Upper straight-line travelling, shown in square frame 812, the current location P of the mobile object that calculates that controller 304 will be stored
1With the reference position P that is obtained this crossing by navigation map
REFCompare.
In square frame 810, if the next steering angle θ ' of mobile object is not less than a predetermined threshold value θ
THR, the expression mobile object is turned rear at road R at the place, crossing
1On do not keep straight-line travelling, process flow diagram 800 returns square frame 802.Afterwards, controller 304 will be by periodically judging the steering angle of the mobile object that is calculated by steering angle arithmetical unit 302, thereby monitor constantly the running status of mobile object.
In square frame 814, if the current location P of the mobile object that calculates of storage
1With the reference position P that is obtained this crossing by navigation map
REFBetween difference greater than a predetermined threshold P
THR, then proceed to square frame 816.In square frame 816, controller 304 indication track arithmetical unit 208 with the current location correction of the mobile object that calculates to road R
1The reference route on correspondence position.Thus, correspondingly reduce the position offset of track arithmetical unit 208.In square frame 814, if the current location P of the mobile object that calculates of storage
1With the reference position P that is obtained this crossing by navigation map
REFBetween difference be not more than a predetermined threshold P
THR, process flow diagram 800 returns square frame 802.
In square frame 804, if steering angle θ does not fall in the preset range (θ 1, and θ 2), process flow diagram 800 proceeds to square frame 818.In square frame 818, steering angle θ is judged, if steering angle θ represents that less than a predetermined threshold value θ 3 (for example, 20 degree) mobile object is at road R
2Upper straight-line travelling, process flow diagram 800 proceeds to square frame 820.In square frame 820, can be according to the direction of the mobile object that is calculated by track arithmetical unit 208 by the reference direction correction of road reference information indication.In one embodiment, current direction and the road R of controller 304 mobile object that will be calculated by track arithmetical unit 208
2Reference direction compare.If the difference between the current direction of mobile object and the road reference direction is greater than a predetermined threshold value, controller 304 will indicate track arithmetical unit 208 with the current adjustment in direction of mobile object to the road reference direction.
In square frame 822, when vehicle at road R
2During upper straight-line travelling, can be based on the road R by the indication of road reference information
2The reference route, revise the position of the mobile object that is calculated by track arithmetical unit 208.In one embodiment, controller 304 obtains the current location of the mobile object that is calculated by track arithmetical unit 208, and calculates current location from mobile object to road R
2The vertical range of reference route.If this vertical range is greater than a predetermined threshold value, controller 304 can indicate track arithmetical unit 208 with the current location correction of the mobile object that calculates to road R
2The reference route on correspondence position.
In square frame 818, if steering angle θ is not less than predetermined threshold value θ 3, process flow diagram 800 returns square frame 802.Subsequently, controller 304 will be by periodically judging the steering angle of the mobile object that is calculated by steering angle arithmetical unit 302, thereby monitor constantly the running status of mobile object.
In sum, the invention provides a kind of inertial navigation system and air navigation aid of carrying out error correction based on navigation map.Wherein, described inertial navigation system comprises a plurality of motion sensors that are coupled in mobile object, is used for measuring the movable information of mobile object; Be coupled in the track arithmetical unit of described motion sensor, be used for calculating according to the movable information of mobile object position and the direction of mobile object; Be coupled in the error correction unit of track arithmetical unit, be used for position and direction according to road reference information correction mobile object; And the storage unit that is coupled in the error correction unit, be used for the geography information of memory track road network, and provide the road reference information according to the geography information of road net.
In order to reduce cumulative errors, when mobile object is turned at the place, crossing, can compare the position of the mobile object that calculates in the error correction unit with the reference position at this crossing, and the position of the mobile object that obtains according to the road reference information corrected Calculation of storage for comparative result indication track arithmetical unit.When mobile object on a road during linear running, can compare the direction of the mobile object that calculates in the error correction unit with the reference direction of road, and be the reference direction of road for comparative result indication track arithmetical unit with the adjustment in direction of the mobile object that calculates.In addition, when mobile object on road during linear running, the error correction unit also can calculate from the position of the mobile object that calculates to the vertical range of the reference route of this road, and according to result of calculation indication track arithmetical unit with the position correction of the mobile object that calculates to road with reference to the corresponding reference position on the route.
Above embodiment and accompanying drawing only are embodiment commonly used of the present invention.Obviously, under the prerequisite that does not break away from the present invention's spirit that appended claims defines and protection domain, can have and variously augment, revise and replace.It should be appreciated by those skilled in the art that the present invention can change aspect form, structure, layout, ratio, material, element, assembly and other to some extent according to concrete environment and job requirement in actual applications under the prerequisite that does not deviate from the invention criterion.Therefore, embodiment disclosed here only is illustrative rather than definitive thereof, and scope of the present invention is defined by claims and legal equivalents thereof, and is not limited to description before this.
Claims (16)
1. an inertial navigation system is characterized in that, described inertial navigation system comprises at least:
The track arithmetical unit is for position and the direction of calculating described mobile object according to the movable information of mobile object;
Be coupled in the error correction unit of described track arithmetical unit, be used for described position and described direction according to the described mobile object of road reference information correction; And
Be coupled in the storage unit of described error correction unit, be used for the geography information of memory track road network, and provide described road reference information according to the described geography information of described road net;
Wherein, described error correction unit comprises:
The steering angle arithmetical unit is used for according to described movable information, calculates the steering angle of described mobile object; And
Be coupled in the controller of described steering angle arithmetical unit, be used for described position and described direction and described road reference information according to the described steering angle of described mobile object, described mobile object, indicate described position and the described direction of the described mobile object of described track arithmetical unit correction.
2. inertial navigation system according to claim 1 is characterized in that, described inertial navigation system also comprises:
Be coupled in a plurality of motion sensors of described mobile object, be used for measuring the described movable information of described mobile object.
3. inertial navigation system according to claim 2 is characterized in that, described motion sensor further comprises:
Be coupled in the gyroscope of described mobile object, be used for measuring the angular velocity of described mobile object; And
Be coupled in the mileometer of described mobile object, be used for measuring the linear velocity of described mobile object.
4. inertial navigation system according to claim 1 is characterized in that, the navigation map of the described road net of described cell stores, and provide described road reference information according to the described navigation map of described road net.
5. inertial navigation system according to claim 1, it is characterized in that, if the described steering angle of described mobile object is in a preset range, described controller calculates the described position of described mobile object and by the difference between the reference position of described road reference information indication, if described difference is greater than a predetermined threshold value, described controller indicates described track arithmetical unit according to the described position of the described mobile object of described road reference information correction.
6. inertial navigation system according to claim 1, it is characterized in that, if the described steering angle of described mobile object is less than a predetermined threshold value, described controller calculates the described direction of described mobile object and by the difference between the reference direction of described road reference information indication, if described difference is greater than a predetermined threshold value, it is described reference direction with the described adjustment in direction of described mobile object that described controller is indicated described track arithmetical unit.
7. inertial navigation system according to claim 1, it is characterized in that, if the described steering angle of described mobile object is less than a predetermined threshold value, described controller calculates from the described position of described mobile object the vertical range by the reference route of described road reference information indication, if described vertical range is greater than a predetermined threshold value, it is described with reference to the relevant position on the route with the described position correction of described mobile object that described controller is indicated described track arithmetical unit.
8. inertial navigation system according to claim 1 is characterized in that, described inertial navigation system also comprises display screen, is used for showing described position and the described direction of described mobile object.
9. an inertial navigation method is characterized in that, described inertial navigation method comprises the following steps: at least
Calculated position and the direction of described mobile object according to the movable information of mobile object by the track arithmetical unit;
By described position and the described direction of error correction unit according to the described mobile object of road reference information correction, it comprises: the steering angle that is calculated described mobile object by the steering angle arithmetical unit according to described movable information, with by described position and described direction and the described road reference information of the controller that is coupled in described steering angle arithmetical unit according to the described steering angle of described mobile object, described mobile object, indicate described position and the described direction of the described mobile object of described track arithmetical unit correction; And
Geography information according to the road net that is stored in storage unit provides described road reference information.
10. inertial navigation method according to claim 9 is characterized in that, described inertial navigation method also comprises the following steps:
Measured the described movable information of described mobile object by a plurality of motion sensors that are coupled in described mobile object.
11. inertial navigation method according to claim 10 is characterized in that, the step of the described movable information of the described mobile object of described measurement further comprises:
Angular velocity by the described mobile object of gyroscope survey that is coupled in described mobile object; And
Measured the linear velocity of described mobile object by the mileometer that is coupled in described mobile object.
12. inertial navigation method according to claim 9 is characterized in that, described inertial navigation method also comprises the following steps:
The navigation map that represents the described geography information of described road net is deposited in the described storage unit.
13. inertial navigation method according to claim 9 is characterized in that, described inertial navigation method also comprises the following steps:
If the described steering angle of described mobile object is in a preset range, described controller calculates the described position of described mobile object and by the difference between the reference position of described road reference information indication, if described difference is greater than a predetermined threshold value, described controller indicates described track arithmetical unit according to the described position of the described mobile object of described road reference information correction.
14. inertial navigation method according to claim 9 is characterized in that, described inertial navigation method also comprises the following steps:
If the described steering angle of described mobile object is less than a predetermined threshold value, described controller calculates the described direction of described mobile object and by the difference between the reference direction of described road reference information indication, if described difference is greater than a predetermined threshold value, it is described reference direction with the described adjustment in direction of described mobile object that described controller is indicated described track arithmetical unit.
15. inertial navigation method according to claim 9 is characterized in that, described inertial navigation method also comprises the following steps:
If the described steering angle of described mobile object is less than a predetermined threshold value, described controller calculates from the described position of described mobile object the vertical range by the reference route of described road reference information indication, if described vertical range is greater than a predetermined threshold value, it is described with reference to the relevant position on the route with the described position correction of described mobile object that described controller is indicated described track arithmetical unit.
16. inertial navigation method according to claim 14 is characterized in that, described inertial navigation method also comprises the following steps:
Described position and the described direction of described mobile object are shown on the display screen.
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| CN108519085A (en) * | 2018-03-27 | 2018-09-11 | 京东方科技集团股份有限公司 | Guidance path acquisition methods, device, system and its storage medium |
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