车载低精度INS/GPS大方位失准角线性对准研究

在应用低精度微机电系统-惯性测量单元(MEMS-IMU)和全球定位系统(GPS)的车载组合导航中,由于IMU的精度问题,无法通过传统的解析方法实现方位失准角的粗对准,造成了大方位失准角问题。该文通过变换状态量,用方位失准角的两个三角函数代替方位失准角作为状态量,建立了新的线性系统方程,统一了精对准和粗对准的过程,避免了粗对准切换到精对准时状态间的协方差信息损失。完成了车载导航试验。结果表明,本初始对准方案在低精度的组合导航中能将对准精度控制在1°以内。

Study on the Linear Alignment of Large Heading Uncertain Alignment of Vehicle Low Precision INS/GPS

The conventional alignment method cannot be applied to the vehicle navigation due to the low performance of IMU, which causes the problem of large heading uncertain alignment. In this paper, two trigonometric functions of the heading uncertain angle are used as the quantity of state to establish the a new linear system equation. On the other hand, the coarse and fine alignment procedures are unified to avoid the covariance information loss during the switching from the coarse alignment to the fine alignment. The vehicle test results verified the heading error of the new alignment method can be lower than 1°.