| 基于捷联惯导/里程计的车载高精度定位定向方法研究 |
| |
| 引用本文： | 杨波,王跃钢,彭辉煌.基于捷联惯导/里程计的车载高精度定位定向方法研究[J].计算机测量与控制,2011,19(10). |
| |
| 作者姓名： | 杨波 王跃钢 彭辉煌 |
| |
| 作者单位： | 1. 第二炮兵工程学院自动控制系,陕西西安,710025
2. 第二炮兵驻8602厂军事代表室,湖北孝感,432100 |
| |
| 基金项目： | 中国博士后科学基金资助(20090461471) |
| |
| 摘 要： | 研究了一种基于捷联惯导系统和里程计进行车载高精度定位定向的方法;采用里程计与捷联惯导中的陀螺仪构成航位推算系统,建立了航位推算系统的误差模型;为了增强航位推算姿态误差的估计效果,将载车姿态与位置信息一起作为量测,构建组合定位定向的量测方程;采用Sage-Husa自适应滤波设计捷联惯导/里程计组合定位定向算法,以增强算法对外界环境和载车机动的鲁棒性;仿真结果表明,基于捷联惯导/里程计的车载定位定向方法能够达到±20.4m(3σ)的定位精度,航向精度达到±3.1′(3σ),水平姿态精度达到±0.6′(3σ)。
|
| 关 键 词： | 捷联惯导 里程计 定位定向 自适应滤波 |
Research on Precise Position and Orientation Determination for Vehicle Based on SINS/Odometer |
| |
| Yang Bo,Wang Yuegang,Peng Huihuang.Research on Precise Position and Orientation Determination for Vehicle Based on SINS/Odometer[J].Computer Measurement & Control,2011,19(10). |
| |
| Authors: | Yang Bo Wang Yuegang Peng Huihuang |
| |
| Affiliation: | Yang Bo1 Wang Yuegang1 Peng Huihuang2(1.Department of Automation,Second Artillery Engineering College,Xi'an 710025,China,2.Military Deputy Office of Second Artillery in Plant 8602,Xiaogan 432100,China) |
| |
| Abstract: | A method of precise position and orientation determination for vehicle based on strapdown inertial navigation system(SINS) and odometer was researched in this paper.The odometer and gyroscopes in SINS were adopted to construct the dead reckoning system,and error models of the dead reckoning system were built.In order to enhance the estimate effect of attitude errors in dead reckoning,the attitude and position of the vehicle were chozen as the observations,and thus the observation equation of integrated posi... |
| |
| Keywords: | strapdown inertial navigation system(SINS) odometer position and orientation determination self-adaptive filter |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
