Compensation method and device for random constant error of inertial device of integrated navigation system
The invention discloses a method and a device for compensating random constant errors of an inertial device of an integrated navigation system. The method comprises the following steps: acquiring an actual size of a lever arm between an inertial measurement unit (IMU) and a GPS antenna in the integr...
Gespeichert in:
| Hauptverfasser: | , , , , , |
|---|---|
| Format: | Patent |
| Sprache: | chi ; eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | |
|---|---|
| container_issue | |
| container_start_page | |
| container_title | |
| container_volume | |
| creator | KE WEI JIANG XIAOLIANG JIN CONGHUI HAN YUANZHAO QIAO HAIYAN MA XIBAO |
| description | The invention discloses a method and a device for compensating random constant errors of an inertial device of an integrated navigation system. The method comprises the following steps: acquiring an actual size of a lever arm between an inertial measurement unit (IMU) and a GPS antenna in the integrated navigation system; a Kalman filter is constructed; if a preset condition is met, respectively compensating the inertial device random constant error a to an angle increment output by a gyroscope of the integrated navigation system and a speed increment output by an accelerometer, and compensating the lever arm error estimation value b to a lever arm size from an IMU (Inertial Measurement Unit) to a GPS (Global Positioning System) of the integrated navigation system; otherwise, estimating the error state vector by a Kalman filter, and updating the random constant error a of the inertial device and the estimated value b of the lever arm based on the estimated error state vector. According to the method, the prec |
| format | Patent |
| fullrecord | <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_CN115493585A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>CN115493585A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_CN115493585A3</originalsourceid><addsrcrecordid>eNqNjLsKwkAQRdNYiPoP4wdYhBjQUoJiZWUfhuxNXJKdCbtDwL83-OitLudwuMusrzSMkMTmVSjAHuqIxZHD5BtQq5HizBqoUUnGYoQYZ6steUE0z8MvfitDF9ngSHjy3ec3PZMhrLNFy0PC5rurbHs536vrDqPWSCM3EFhd3fK83B-L8lCein-aFxi-QgI</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Compensation method and device for random constant error of inertial device of integrated navigation system</title><source>esp@cenet</source><creator>KE WEI ; JIANG XIAOLIANG ; JIN CONGHUI ; HAN YUANZHAO ; QIAO HAIYAN ; MA XIBAO</creator><creatorcontrib>KE WEI ; JIANG XIAOLIANG ; JIN CONGHUI ; HAN YUANZHAO ; QIAO HAIYAN ; MA XIBAO</creatorcontrib><description>The invention discloses a method and a device for compensating random constant errors of an inertial device of an integrated navigation system. The method comprises the following steps: acquiring an actual size of a lever arm between an inertial measurement unit (IMU) and a GPS antenna in the integrated navigation system; a Kalman filter is constructed; if a preset condition is met, respectively compensating the inertial device random constant error a to an angle increment output by a gyroscope of the integrated navigation system and a speed increment output by an accelerometer, and compensating the lever arm error estimation value b to a lever arm size from an IMU (Inertial Measurement Unit) to a GPS (Global Positioning System) of the integrated navigation system; otherwise, estimating the error state vector by a Kalman filter, and updating the random constant error a of the inertial device and the estimated value b of the lever arm based on the estimated error state vector. According to the method, the prec</description><language>chi ; eng</language><subject>GYROSCOPIC INSTRUMENTS ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; SURVEYING ; TESTING</subject><creationdate>2022</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20221220&DB=EPODOC&CC=CN&NR=115493585A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25562,76317</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20221220&DB=EPODOC&CC=CN&NR=115493585A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>KE WEI</creatorcontrib><creatorcontrib>JIANG XIAOLIANG</creatorcontrib><creatorcontrib>JIN CONGHUI</creatorcontrib><creatorcontrib>HAN YUANZHAO</creatorcontrib><creatorcontrib>QIAO HAIYAN</creatorcontrib><creatorcontrib>MA XIBAO</creatorcontrib><title>Compensation method and device for random constant error of inertial device of integrated navigation system</title><description>The invention discloses a method and a device for compensating random constant errors of an inertial device of an integrated navigation system. The method comprises the following steps: acquiring an actual size of a lever arm between an inertial measurement unit (IMU) and a GPS antenna in the integrated navigation system; a Kalman filter is constructed; if a preset condition is met, respectively compensating the inertial device random constant error a to an angle increment output by a gyroscope of the integrated navigation system and a speed increment output by an accelerometer, and compensating the lever arm error estimation value b to a lever arm size from an IMU (Inertial Measurement Unit) to a GPS (Global Positioning System) of the integrated navigation system; otherwise, estimating the error state vector by a Kalman filter, and updating the random constant error a of the inertial device and the estimated value b of the lever arm based on the estimated error state vector. According to the method, the prec</description><subject>GYROSCOPIC INSTRUMENTS</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>SURVEYING</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2022</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNjLsKwkAQRdNYiPoP4wdYhBjQUoJiZWUfhuxNXJKdCbtDwL83-OitLudwuMusrzSMkMTmVSjAHuqIxZHD5BtQq5HizBqoUUnGYoQYZ6steUE0z8MvfitDF9ngSHjy3ec3PZMhrLNFy0PC5rurbHs536vrDqPWSCM3EFhd3fK83B-L8lCein-aFxi-QgI</recordid><startdate>20221220</startdate><enddate>20221220</enddate><creator>KE WEI</creator><creator>JIANG XIAOLIANG</creator><creator>JIN CONGHUI</creator><creator>HAN YUANZHAO</creator><creator>QIAO HAIYAN</creator><creator>MA XIBAO</creator><scope>EVB</scope></search><sort><creationdate>20221220</creationdate><title>Compensation method and device for random constant error of inertial device of integrated navigation system</title><author>KE WEI ; JIANG XIAOLIANG ; JIN CONGHUI ; HAN YUANZHAO ; QIAO HAIYAN ; MA XIBAO</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN115493585A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2022</creationdate><topic>GYROSCOPIC INSTRUMENTS</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>SURVEYING</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>KE WEI</creatorcontrib><creatorcontrib>JIANG XIAOLIANG</creatorcontrib><creatorcontrib>JIN CONGHUI</creatorcontrib><creatorcontrib>HAN YUANZHAO</creatorcontrib><creatorcontrib>QIAO HAIYAN</creatorcontrib><creatorcontrib>MA XIBAO</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>KE WEI</au><au>JIANG XIAOLIANG</au><au>JIN CONGHUI</au><au>HAN YUANZHAO</au><au>QIAO HAIYAN</au><au>MA XIBAO</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Compensation method and device for random constant error of inertial device of integrated navigation system</title><date>2022-12-20</date><risdate>2022</risdate><abstract>The invention discloses a method and a device for compensating random constant errors of an inertial device of an integrated navigation system. The method comprises the following steps: acquiring an actual size of a lever arm between an inertial measurement unit (IMU) and a GPS antenna in the integrated navigation system; a Kalman filter is constructed; if a preset condition is met, respectively compensating the inertial device random constant error a to an angle increment output by a gyroscope of the integrated navigation system and a speed increment output by an accelerometer, and compensating the lever arm error estimation value b to a lever arm size from an IMU (Inertial Measurement Unit) to a GPS (Global Positioning System) of the integrated navigation system; otherwise, estimating the error state vector by a Kalman filter, and updating the random constant error a of the inertial device and the estimated value b of the lever arm based on the estimated error state vector. According to the method, the prec</abstract><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | |
| ispartof | |
| issn | |
| language | chi ; eng |
| recordid | cdi_epo_espacenet_CN115493585A |
| source | esp@cenet |
| subjects | GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING |
| title | Compensation method and device for random constant error of inertial device of integrated navigation system |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-13T19%3A40%3A09IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=KE%20WEI&rft.date=2022-12-20&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3ECN115493585A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true |