| 捷联惯导与里程计组合导航系统标定方法研究 |
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| 引用本文： | 张金余,刘伟.捷联惯导与里程计组合导航系统标定方法研究[J].导航与控制,2011(2):8-12. |
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| 作者姓名： | 张金余 刘伟 |
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| 作者单位： | 北京航天控制仪器研究所;北京航天控制仪器研究所 |
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| 摘 要： | 捷联惯导/里程计组合导航系统中,里程计的刻度系数和相对惯组的安装误差角的标定是影响组合导航精度的关键因素.根据工程应用情况,提出经典标定方法和卡尔曼滤波标定方法,并对两种方法进行比较.在标定出刻度系数和安装误差角后,将该数据装订到惯组中进行车载试验验证,将里程计解算的速度和位置与GPS实测值进行比较.试验结果表明:跑车...
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| 关 键 词： | 捷联惯导系统 里程计 卡尔曼滤波 航位推算 标定 |
Research on Calibration Methods of SINS/OD Integrated Navigation System |
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| ZHANG Jin-yu and LIU Wei.Research on Calibration Methods of SINS/OD Integrated Navigation System[J].Navigation and Control,2011(2):8-12. |
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| Authors: | ZHANG Jin-yu and LIU Wei |
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| Institution: | Beijing Institute of Aerospace Control Device;Beijing Institute of Aerospace Control Device |
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| Abstract: | Calibrations of odometer scale factor error and IMU installation errors are crucial to the SINS/OD integrated navigation system. A classical calibration method and a kalman filtering calibration method are presented and compared based on the engineering application. The scale factor error and IMU installation errors are written in the IMU after calibration. The velocity and position are compared between OD and GPS in practical experiment. The experiment results prove that the velocity error is close to zero and the position error is less than 50 meter in an hour, which proves that the scale factor error and IMU installation errors meet the requirement. The two methods are valuable in engineering application. |
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| Keywords: | SINS OD Kalman filtering DR calibration |
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