Combination navigation method of inertial navigation odometer for pipeline surveying and mapping
The invention belongs to a navigation method, and particularly relates to a combination navigation method of an inertial navigation odometer for pipeline surveying and mapping. The method comprises steps as follows: 1), establishment of a calculation model; 2), calculation of a navigation position; 3), establishment of a Kalman filter model; 4), reverse treatment; and 5), correction of a mark point. The combination navigation method has the advantages as follows: the provided combination navigation method of the inertial navigation odometer for pipeline surveying and mapping recycles whole test data, all errors of an inertial navigation system and an odometer are estimated and compensated through forward and reverse combination navigation filtering, then a track is further corrected in combination of the mark point position information, and finally, high-precision pipeline track data are obtained. 1. A pipeline mapping inertial navigation for milemeter combined navigation method, characterized in that it comprises the following steps, (1) establishment of a calculation model, (2) calculation device, (3) Kalman filter model, (4) the reverse processing, (5) marking point correction. 2. A pipeline mapping inertial navigation for milemeter combined navigation method according to Claim 1, characterized in that the step (1) includes, 1) error model Inertial navigation milemeter combined navigation algorithm adopts the "speed position +" matching Kalman filtering method, using the programme 19 meta-navigation error model, selecting 19 for error state variable State equation as: Wherein wherein δ Vn, δVu, δVe to inertial north, vertical, the speed error of east; Φn, Φu, Φe to inertial north, vertical, losing accuracy angle up; Inertial navigation X, Y, Z-axis accelerometer zero-offset; εx, εy, εz: inertial navigation X, Y, Z axis gyroscope drift; δLD, δhD, δλD to the latitude of the dead reckoning milemeter, height, longitude error; ΘY, ΘZ milemeter for inertial navigation and between Y and Z along the inertial guidance installation error angle of the shaft; ΔSF : milemeter scale coefficient error; Δt : for time delay; fn, fu, fenorth day for the inertial navigation system for measuring the direction of the specific east three ; Vn, Vu, Ve northwards for inertial navigation system, respectively, vertical and the speed; ωie self-corner rate of the earth; said L the position of the inertial navigation system latitude; RN, RMprime vertical the radius of curvature of the, radius of the meridian-planar, VD milemeter of the forward speed; VDn, VDu, VDe milemeter respectively representing northwards dead reckoning, vertical, the speed; Said matrix Section 1 line section 1 corresponding to the elements of the set, the rest of the same form with the same meaning of the variable; 2) observation equation Filter observation equation is divided into two parts, when there is a speed at the time of observation, the observation equation is as follows: When a reference point information, observation equation is as follows: Said navigation calculation of the respectively used for speed update the inertial navigation system geographic series acceleration value; the remaining variable definition with the upper section; 3) equation discretization The state transition matrix discretization formula is as follows wherein Tn for navigation cycle, Tn = 0.005s, Te cycle for filtering, Te = 1s, At t the state at the point of the transfer matrix, φk+1,k the transfer matrix for the discretization after, at the beginning of each filtering cycle t= 0; Noise array discretization formula is: Qk =QTe For Q noise , Observed quantity solving formula is as follows: wherein λD, LD, hD milemeter dead reckoning to the longitude, latitude, highly; λM, LM, hMmarked point of the longitude, latitude, altitude, the speed of the the milemeter obtained by the following formula: In the formula, the ΔS 0.1s displacement increment of in, dT=0.1s. 3. A pipeline mapping inertial navigation for milemeter combined navigation method according to Claim 1, characterized in that the step (2) comprises, At the same time the inertia to dead reckoning navigation, with navigation calculation cycle calculation cycle, Tn= 5 (ms); with information initializing position dead reckoning navigation calculation, i.e. utilizing external binds the value to obtain the initial longitude, latitude and height, Milemeter i is the sampling period for the displacement of the output carrier Δ Si, the coordinate system in inertial navigation carrier b is expressed as in: Use of inertial navigation system the posture matrix under its conversion to the geographic coordinate system, to be: Milemeter quantization noise to eliminate, to 0.1s to speed the period of smooth processing. Dead reckoning formula is: Navigation calculation period representing respectively the milemeter displacement increment of the Department of geography. 4. A pipeline mapping inertial navigation for milemeter combined navigation method according to Claim 1, characterized in that the step (3) includes, the formula of the Kalman filter equation is as follows: One-step prediction state State estimation Filter gain matrix One-step prediction error variance Estimation error variance Pk = [I-Kk Hk] Pk,k-1 Wherein The predicted value is an one-step state, The state estimate matrix, Φk,k-1 one-step transfer matrix of the state, Hk is a measurement matrix, Zk to gauging quantity , Kk gain matrix for filtering, Rk for observation noise , Pk,k-1 is an one-step prediction error variance , Pk to estimate error variance , Γk,k-1 as the system noise drive array, Qk-1 as the system noise array. 5. A pipeline mapping inertial navigation for milemeter combined navigation method according to Claim 1, characterized in that the step (4) includes, The completion of forward direction after sequential navigation and filtering, navigation calculation, dead reckoning and Kalman filtering does not stop, and is continuing to carry out reverse navigation calculation, dead reckoning and Kalman filtering, main processing method includes: 1) reverse navigation Navigation with the calculation formula to the navigation, the difference is in the course of calculating the method needs to be some quantity, the specific processing includes: A) gravity acceleration reverse: g=-g B) overload reverse: fb fb=- C) angular velocity reverse: wibb wibb=- D) reverse rotation angular rate of the earth: wien wien=- E) implicated angular speed reverse: wenn wenn=- F) location update reverse: speed negate G) time: t=t-Tn 2) reverse dead reckoning In the form of reverse dead reckoning with the forward dead reckoning, the forward dead reckoning difference of accumulated negative sign of the displacement obtained, that is, the formula becomes: 3) the reverse filtering Reverse filtering process with the forward filter calculation, only needs to measure the matrix and the state of all elements in the matrix can be the method. 6. A pipeline mapping inertial navigation for milemeter combined navigation method according to Claim 1, characterized in that the step (5) comprises, in the completed by using the positive reverse combined filtering to the error after the estimation and compensation, can get relatively accurate trajectory information, however, because of the still has residual error milemeter accumulation , therefore usually indicate the need for further correction of the trajectory, the specific method is as follows: Milemeter calculated at the index point of the dead reckoning error: Wherein λD, LD, hD milemeter dead reckoning to the longitude, latitude, highly; λM, LM, hMmarked point of the longitude, latitude, height. Can be obtained Wherein ΔΦu, ΔΦL, ΔSF milemeter the remaining course of the installation error angle, pitching mounting and error angle scale coefficient error; SDn, SDu, SDe, SDL milemeter dead reckoning to the north, vertical, and the radial displacement; The estimated error parameters, perform the following judgment, to the error is larger than the crossing 0.01m, that is, dSD =sqrt (dLD *dLD +dhD *dhD +dλD *dλD) > 0.01m time, the calculated residual error milemeter obtained accumulated and compensation, and a symbol from the re-calculated points, milemeter residual error compensation method is as follows: First of all the error accumulated: To compensate the error is then: Δ Si = (1-dSF) Δ Si In such a way between two marking iterative computation, until the marked point radial position error is less than 0.01 m. Then the next index point correction.