Title:
GNSS-INS VEHICLE ATTITUDE DETERMINATION METHOD BASED ON SINGLE ANTENNA
Document Type and Number:
WIPO Patent Application WO/2017/107434
Kind Code:
A1
Abstract:
Provided is a GNSS-INS vehicle attitude determination method based on a single antenna, comprising the following steps: fixedly mounting a GNSS antenna at the location of the central mass center of a vehicle, and meanwhile fixedly mounting an IMU measuring unit of an MEMS sensor on a steering axle of the vehicle; acquiring, by means of the GNSS antenna, information about the location and speed of the vehicle and acquiring, by means of the IMU measuring unit, information about the course angular rate of the vehicle; resolving the attitude angle of the vehicle by means of the combination of a speedometer and a gyroscope; and resolving the course angle of the vehicle according to the information about the location, speed and course angular rate of the vehicle. This invention uses the combination of a single antenna GNSS and a low-cost IMU/MEMS sensor set to determine the attitude and direction on the basis of a kinetic model of an agricultural vehicle, having the advantages of high short-term precision and high long-term stability, preventing the divergence in usage of a gyroscope, and meanwhile reducing the noise level of the GNSS attitude determination and enabling the attitude determination precision to be improved by several times.
More Like This:
| WO/2021/156569 | NAVIGATION ASSISTANCE METHOD FOR A MOBILE CARRIER |
| WO/2021/257157 | PEDESTRIAN DEAD RECKONING USING MAP CONSTRAINING FEATURES |
| WO/2014/137953 | CROWD SOURCED PATHWAY MAPS |
Inventors:
SHEN XUEFENG (CN)
CHE XIANGHUI (CN)
REN QIANG (CN)
CAO GUANGJIE (CN)
DONG GUANGYANG (CN)
TU RUI (CN)
CHE XIANGHUI (CN)
REN QIANG (CN)
CAO GUANGJIE (CN)
DONG GUANGYANG (CN)
TU RUI (CN)
Application Number:
PCT/CN2016/088345
Publication Date:
June 29, 2017
Filing Date:
July 04, 2016
Export Citation:
Assignee:
SHANGHAI HUACE NAVIGATION TECH LTD (CN)
International Classes:
G01C21/16
Foreign References:
| CN104698485A | 2015-06-10 | |||
| CN103033836A | 2013-04-10 | |||
| CN103235328A | 2013-08-07 | |||
| CN102890278A | 2013-01-23 | |||
| CN102223707A | 2011-10-19 | |||
| US8131462B2 | 2012-03-06 | |||
| US20120221244A1 | 2012-08-30 | |||
| US20130127658A1 | 2013-05-23 |
Other References:
See also references of EP 3396316A4
Attorney, Agent or Firm:
SHANGHAI XUAN YI PATENT OFFICE (GENERAL PARTNERSHIP) (CN)
Download PDF:
Previous Patent: HEADPHONE BUTTON CONTROL METHOD AND SYSTEM
Next Patent: PVDF-COATED LITHIUM-ION BATTERY SEPARATOR AND METHOD FOR PREPARING SAME
Next Patent: PVDF-COATED LITHIUM-ION BATTERY SEPARATOR AND METHOD FOR PREPARING SAME