基于GPS和里程计的快速行进间粗对准方法

塔高明; 宋来亮; 冉龙俊

doi:10.13700/j.bh.1001-5965.2016.0053

基于GPS和里程计的快速行进间粗对准方法

doi: 10.13700/j.bh.1001-5965.2016.0053

北京航空航天大学仪器科学与光电工程学院, 北京 100083

详细信息

作者简介:
塔高明, 男, 硕士研究生。主要研究方向:惯性导航初始对准技术

冉龙俊, 男, 博士。主要研究方向:光学捷联惯性导航系统

通讯作者:
宋来亮,男, 讲师。主要研究方向:惯性导航与组合导航, E-mail:songlailiang@buaa.edu.cn

中图分类号: V249.3
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出版历程
- 收稿日期: 2016-01-15
- 录用日期: 2016-04-01
- 网络出版日期: 2017-01-20

Rapid coarse alignment for marching vehicle based on GPS and odometer

School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

More Information

Corresponding author: E-mail:songlailiang@buaa.edu.cn

摘要

摘要:
针对车载捷联惯导系统（SINS），提出一种快速行进间粗对准方法。将捷联矩阵分解为3个矩阵相乘，利用GPS提供的载体在导航坐标系的速度和里程计提供的载体在载体坐标系的速度构建不共线向量，求解初始载体坐标系相对惯性坐标系的常值转换矩阵，进而求得初始姿态矩阵。该对准方法对载车的唯一要求是在对准过程中做一个转弯机动。与现有对准方法相比，该方法没有用到加速度计信息。仿真结果表明，该方法能在1 min之内完成粗对准，采用零偏为0.1（°）/h的低精度陀螺，对准误差小于0.3°。
- 粗对准 /
- GPS /
- 里程计 /
- 不共线的向量 /
- 转弯机动
Abstract:
Aimed at vehicle-mounted strap-down inertial navigation system (SINS), a rapid coarse alignment method for marching vehicle is proposed. The matrix between navigation frame and body frame is decomposed into three parts. The problem to solve the matrix between navigation frame and body frame is attributed to solving the matrix between initial body frame and inertial frame, which can be obtained by the non-colinear vectors constructed with the vehicle's velocity from GPS in navigation frame and that from odometer in body frame. The only requirement of this alignment method for marching vehicle is a turning movement in the alignment stage. Compared with the existing alignment methods, this method does not use the measurement information of accelerometers. The simulation results show that the coarse alignment can be fulfilled in 1 minute, and the alignment error is less than 0.3° with low accuracy gyros whose zero bias is 0.1(°)/h.
- coarse alignment /
- GPS /
- odometer /
- non-colinear vectors /
- turning movement

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图 1 俯仰角误差、横滚角误差及偏航角误差曲线

Figure 1. Alignment errors for pitch angle，roll angle and yaw angle

下载: 全尺寸图片幻灯片

表 1 传感器误差设置

Table 1. Sensor errors setting

传感器误差	常值偏移	随机误差
陀螺仪误差/((°)·h^-1)	0.1	0.01
东向速度GPS误差/(m·s^-1)	0.1	0.01
北向速度GPS误差/(m·s^-1)	0.1	0.01
天向速度GPS误差/(m·s^-1)	0.1	0.01
里程计误差/(m·s^-1)	0.05	0.005

下载: 导出CSV

表 2 误差统计数据

Table 2. Statistics of alignment errors

姿态角	误差均值/(°)	误差标准差/(°)
俯仰角	0.225 8	0.025 2
横滚角	-0.247 2	0.001 6
航向角	-0.234 6	0.012 6

下载: 导出CSV

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