| 大角度斜置激光惯组与里程计组合导航方法 |
| |
| 引用本文： | 李旦,刘明,胡华峰,罗伟.大角度斜置激光惯组与里程计组合导航方法[J].导航定位于授时,2016(6):17-20. |
| |
| 作者姓名： | 李旦 刘明 胡华峰 罗伟 |
| |
| 作者单位： | 湖北航天技术研究院总体设计所,武汉,430040 |
| |
| 摘 要： | 针对激光惯组斜置条件下惯组坐标系相对里程计坐标系是大角度的情况,建立了两坐标系之间的转换关系,推导了里程计输出转换的安装误差补偿模型,在补偿模型基础上给出了安装误差计算公式.以惯组位移与里程计位移之差作为量测值,建立了状态和量测方程,运用Kalman滤波技术实现惯组/里程计组合导航,最后通过跑车试验对提出的惯性/里程计组合导航方法进行了验证,结果表明了该方法的有效性.
|
| 关 键 词： | 里程计 大角度 安装误差 组合导航 |
Research on Integrated Navigation of LIMU and Odometer with Large Angle |
| |
| LI Dan,LIU Ming,HU Hua-feng and LUO Wei.Research on Integrated Navigation of LIMU and Odometer with Large Angle[J].Navigation Positioning & Timing,2016(6):17-20. |
| |
| Authors: | LI Dan LIU Ming HU Hua-feng and LUO Wei |
| |
| Institution: | The General Design Institute of Hubei Aerospace Technology Academy,The General Design Institute of Hubei Aerospace Technology Academy,The General Design Institute of Hubei Aerospace Technology Academy and The General Design Institute of Hubei Aerospace Technology Academy |
| |
| Abstract: | The relationship between IMU coordinate system and odometer coordinate system is established when large angel is posed due to their installation strategy. Mathematical model is chosen to acquire navigation parameters of odometer from its pulse, and the formula of large angle is put forward. Process equation and measure equation are acquired based on displacements of IMU and odometer by Kalman-filter, field test is carried out to validate the method and the results turn out to be effectual |
| |
| Keywords: | Odometer Large angle Installation error Integrated navigation |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《导航定位于授时》浏览原始摘要信息 |
| 点击此处可从《导航定位于授时》下载免费的PDF全文 |
|
