Integrated navigation method for SINS and odometer
-
摘要: 针对车载自主导航需求,基于卡尔曼滤波器,实现捷联惯导与里程计量测信息的组合导航.推导了里程计误差模型,结合捷联惯组误差模型与捷联系统误差模型,建立了捷联惯导/里程计自主组合导航系统误差状态模型.建立了捷联惯导/里程计组合导航量测模型,阐述了估计误差修正方法.采用仿真计算对此方法进行了验证,仿真结果表明:组合导航过程中,初始姿态误差能得到有效估计,姿态误差和位置误差均能控制在一定精度范围内,应用此组合导航方法相对于传统的航位推算方法能得到更高的导航精度,能有效实现自主高精度定位定向.Abstract: In order to complete independent navigation for land vehicle, integration of strapdown inertial navigation system (SINS) and odometer was realized based on Kalman filter. Odometer error model was proposed, which was associated with inertial measurement unit(IMU) error model and INS error model, and error model of integration system was established. SINS/odometer integration navigation observation model was established, the compensation method of error estimation was described. The integrated navigation method was validated in a simulation, the simulation results indicate that: in the process of integrated navigation, initial error of attitude could be estimated, and attitude error and position error retained in a certain range, navigation precision was improved compared with the traditional dead-reckoning algorithm, and independent high accuracy position and attitude determination was obtained.
-
Key words:
- strapdown inertial navigation system /
- odometer /
- Kalman filter /
- integrated navigation
-
[1] 严恭敏.车载自主定位定向系统研究 .西安:西北工业大学自动化学院,2006 Yan Gongmin.Research of vehicle autonomous position and azimuth determining system .Xi’an:Department of Automatic Control,Northwestern Polytechnical University,2006(in Chinese) [2] 缪玲娟,李春明,郭振西,等.陆用捷联惯导系统/里程计自主式组合导航技术[J].北京理工大学学报,2004,24(9):808-811 Miao Lingjuan,Li Chunming,Guo Zhenxi,et al.Independently integrated navigation system of SINS and distance-transfer-unit for land vehicles[J].Transactions of Beijing Institute of Technology,2004,24(9):808-811(in Chinese) [3] 丁文娟,李岁劳,熊伟.捷联惯导系统/里程计自主式车载组合导航系统研究[J].计测技术,2006,26(1):14-16 Ding Wenjuan,Li Suilao,Xiong Wei.Research on SINS/OD independently integrated navigation system for land vehicles[J].Metrology & Measurement Technology,2006,26(1):14-16(in Chinese) [4] 郭振西,缪玲娟,沈军.里程计组合的捷联惯导系统运动基座对准研究[J].北京理工大学学报,2005,25(1):67-70 Guo Zhenxi,Miao Lingjuan,Shen Jun.Study on strapdown inetial navigation system moving base alignment with SINS/DTU integration [J].Transactions of Beijing Institute of Technology,2005,25(1):67-70(in Chinese) [5] Rogers R M.Applied mathematics in integrated navigation systems[M].Second Edition.1801 Alexander Bell Drive,Reston,VA 20191:American Institude of Aeronautics and Astronautics,2003:77-84 [6] Rogers R M.Velocity error representations in inertial navigation system error models .AIAA-95-3193-CP,1995 [7] Hyun S H,Jang G L,Chan G P.In-flight alignment of SDINS under large initial heading error .AIAA GNC Conf,2001:1-6 -
点击查看大图
计量
- 文章访问数: 2916
- HTML全文浏览量: 204
- PDF下载量: 888
- 被引次数: 0
下载:
