基于位置修正的井下车辆INS/Odometer 组合导航系统

车辆在井下的运动区域是在巷道内，根据此特点，在井下巷道设置已知点修正INS/Odometer组合导航过程的误差状态量，提高井下车辆导航精度。首先介绍了Odometer（里程计）位置和速度的计算方法，建立了INS/Odometer组合导航的系统模型和观测模型，在此基础上，构建井下巷道已知点位置修正的滤波方程，引入并行卡尔曼滤波器（Parallel-Kalman Filter）实现了组合导航的双重滤波，建立基于位置修正的井下车辆INS/Odometer组合导航系统。通过模拟数据和车载实验对比位置修正前后的INS/Odometer井下组合导航系统精度。实验证明，通过巷道已知点的位置修正，可以有效提高INS/Odometer井下组合导航效果，实时导航的平面精度从几十米提高到米级，能够满足井下车辆长时间的导航要求。

INS/Odometer integrated navigation system based on position modification for underground mine vehicle

When the vehicle travels underground mine，its motion region is restricted to the roadways.So we can set the modification points which has been measured the coordinates in advance in roadways to correct the error state in INS/Odometer integrated navigation.This method is aimed at increasing the navigation precision.Firstly，the computation method of position and velocity in Odometer was introduced.System dynamic model and observation model of INS/Odometer integrated navigation was built.Based on this，position modification filter equation of known point was constructed.After introducing the Parallel-Kalman filter to realize the dual filter of integrated navigation，INS/Odometer integrated navigation system based on position modification for underground mine vehicle was proposed.Experiment of simulated data and actual measurement were made to compare the navigation accuracy between before and after position modification.The results of the experiment indicate that the INS/Odometer integrated navigation performance is increased substantially by position modification of known points in roadways.Plane precision of real-time navigation increased from dozens of meters to meter scale，which is able to meet the needs of navigation for underground mine vehicle.