Vehicle-mounted IMU (Inertial Measurement Unit) attitude initialization method, mounting angle estimation method and device

• Main Authors: LIU MENGKUI, CHEN YUANJUN, PAN GUOFU
• Format: Patent
• Language: Chinese; English
• Published: 30.08.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention discloses a vehicle-mounted IMU (Inertial Measurement Unit) attitude initialization method and an installation deviation angle estimation method, which are applied to vehicle-mounted GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) integrated navigation equipment and comprise the following steps of: collecting measurement data of an accelerometer by standing a vehicle for several seconds to obtain a pitch angle and a roll angle, and respectively recording the pitch angle and the roll angle as an initial pitch angle and an initial roll angle of GNSS/INS integrated navigation; and when the vehicle begins to move, acquiring the speed increment of the IMU module and the speed increment of the GNSS receiver, calculating a course angle according to a pre-integration principle, and recording the course angle as an initial course angle of GNSS/INS integrated navigation, so that the initial course angle is applied to subsequent GNSS/INS fine alignment, and the estimation of the in