| 车载惯导航位推算组合导航系统误差补偿研究 |
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| 引用本文： | 李旦,秦永元,张金亮.车载惯导航位推算组合导航系统误差补偿研究[J].计算机测量与控制,2011,19(2). |
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| 作者姓名： | 李旦 秦永元 张金亮 |
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| 作者单位： | 西北工业大学,自动化学院,陕西,西安,710129 |
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| 摘 要： | 当惯组(IMU)安装到车体上时存在安装偏差,推导了安装偏差及刻度系数误差对里程计速度的影响,进而导出了航位推算(DR)的位置误差方程及位置更新算法;建立了SINS/DR组合导航的状态方程和量测方程,以捷联惯导的位置与航位推算的位置之差作为组合导航卡尔曼滤波器的输入,估计出安装偏差和刻度系数误差的值并对航位推算进行补偿;仿真及跑车数据的验证分析结果表明了误差估计方法的有效性和正确性.
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| 关 键 词： | 安装偏差 刻度系数误差 航位推算 SINS/DR组合导航 |
Research on Error Compensation of Integrated Vehicular Navigation System |
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| Li Dan,Qin Yongyuan,Zhang Jinliang.Research on Error Compensation of Integrated Vehicular Navigation System[J].Computer Measurement & Control,2011,19(2). |
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| Authors: | Li Dan Qin Yongyuan Zhang Jinliang |
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| Abstract: | Since IMU can not be installed on vehicle precisely, there must be some installation error, the paper gives variety of velocity of odometer due to installation error and scale factor error, which deduce positional error propagate equation and positional iterative arithmetic of dead reckoning. State equations and measurement equations of SINS/DR integrated navigation are established, the difference of position between SINS and DR is used as the input of kalman filter, installation error and scale factor erro... |
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| Keywords: | installation error scale factor error dead reckoning(DR) SINS/DR integrated navigation |
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