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车载导航系统自标定？ #40

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chennuo0125-HIT opened this issue Jul 23, 2022 · 0 comments

chennuo0125-HIT commented Jul 23, 2022

车载导航系统中，融合了imu、gps之外和一维车速信息，在过隧道时是切换到航位推算模式，该导航系统一般都有一个自标定过程:

在空旷的平地:  
(1) 以30km/h以上的速度行驶1分钟以上，以校验DPP；（越快越好）// 校准车的输入速度与gps速度差异  
(2) 左转10个圈/右转10个圈以矫正陀螺仪GSF，转弯强度为20度/s以上为好  // 矫正脱落仪内部参数
(3) 每次转弯钱彻底停止5s以上以矫正ZRO // 矫正零点漂移  
(4) 有倒车的动作以矫正 Direction  
综上: 先矫正DPP，再矫正GSF.

请教各位专业人士，知道上述过程都是标定了哪些参数？这些参数都是干什么用的么？提前表示感谢：）

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