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惯导/北斗/里程计一体化紧组合导航方法研究
引用本文:张小跃,刘鹏博,易晓静,张春熹.惯导/北斗/里程计一体化紧组合导航方法研究[J].导航与控制,2015(5):23-30.
作者姓名:张小跃  刘鹏博  易晓静  张春熹
作者单位:北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院
摘    要:当前,主要通过采用惯导/卫星导航组合或者惯导/里程计组合的方式来实现 车辆的定位定向;卫星信号良好时,惯导系统与卫星导航组合实现车辆定位定向,当卫 星导航信号不好甚至没有信号无法正常工作时,惯导系统与里程计组合实现车辆定位定 向。提出一种惯导/卫星导航/里程计三者的一体化组合方案,针对惯导、北斗、里程计 这三项测量设备构成的组合系统建立了统一的误差状态模型、组合量测模型以及反馈修 正模型,并通过卡尔曼滤波器来实现三者的一体化紧组合,这种惯导/北斗/里程计一体 化的紧组合方式,能更好地实现三者信号之间的充分交流与融合。将这种一体化紧组合 方法与传统的惯导/北斗组合、惯导/里程计组合方法进行了仿真比较,结果表明:惯导/ 北斗/里程计一体化的紧组合方法能更加快速、准确得到传感器误差( 包含惯组误差、 北斗误差、里程计误差)的在线估计,更能有效提高各传感器的测量精度。

关 键 词:惯导    里程计  北斗  组合导航

Research of Tightly Coupled INS/BeiDou/Odometer Integration Methodology
ZHANG Xiao-yue,LIU Peng-bo,YI Xiao-jing and ZHANG Chun-xi.Research of Tightly Coupled INS/BeiDou/Odometer Integration Methodology[J].Navigation and Control,2015(5):23-30.
Authors:ZHANG Xiao-yue  LIU Peng-bo  YI Xiao-jing and ZHANG Chun-xi
Affiliation:School of Instrument Science and Opto-electronic Engineering, Beihang University;School of Instrument Science and Opto-electronic Engineering, Beihang University;School of Instrument Science and Opto-electronic Engineering, Beihang University;School of Instrument Science and Opto-electronic Engineering, Beihang University
Abstract:Positioning and orientation of vehicle is mainly realized through the integration of INS and satellite navigation system or the integration of INS and odometer. When satellite signal is good, positioning and orientation of vehicle is realized by INS and satellite navigation system, otherwise positioning and orientation is realized by INS and odometer. In this paper, error model, measurement model and feedback correction model of the integrated system composed of three measurement devices (INS, BeiDou and odometer) were established. Kalman filter was used to realize the deep integration, in which sufficient communion and fusing of the three devices is obtained. Simulation was carried out to compare this tightly-coupled integration method with the traditional INS/BeiDou combination and the INS/odometer combination. The simulation results indicate that this tightly-coupled INS/BeiDou/odometer integration can obtain the online estimation of sensor errors including IMU error, BeiDou error and odometer error more rapidly and accurately, the measuring accuracy of the sensors could be improved effectively.
Keywords:INS  odometer  BeiDou  integrated navigation
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