| 车载高精度里程计辅助捷联惯性组合导航系统设计与实验 |
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| 引用本文： | 高福隆,石然,刘洋,幸伟,张铭涛.车载高精度里程计辅助捷联惯性组合导航系统设计与实验[J].导航与控制,2018(6):42-47. |
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| 作者姓名： | 高福隆 石然 刘洋 幸伟 张铭涛 |
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| 作者单位： | 上海航天控制技术研究所，上海 201109；上海惯性工程技术研究中心，上海 201109,上海航天控制技术研究所，上海 201109；上海惯性工程技术研究中心，上海 201109,上海航天控制技术研究所，上海 201109；上海惯性工程技术研究中心，上海 201109,上海航天控制技术研究所，上海 201109；上海惯性工程技术研究中心，上海 201109,上海航天控制技术研究所，上海 201109；上海惯性工程技术研究中心，上海 201109 |
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| 摘 要： | GPS导航系统虽然精度高、成本低，但易受到工作环境的限制。针对特殊应用环境(如煤矿)提出了一种可工作于复杂环境下的高精度里程计组合导航系统。经过分析、仿真、实验验证，结果表明在无GNSS信号的情况下，所设计的里程计组合导航系统可完成长时间(>1h)、长距离(300m)且高精度(相对误差仅为0.526%)的导航。
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| 关 键 词： | 捷联惯性导航系统 里程计 DSP FPGA |
Design and Experimental Study on High Precision Odometer Strapdown Integrated Navigation System for Vehicles |
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| GAO Fu-long,SHI Ran,LIU Yang,XING Wei and ZHANG Ming-tao.Design and Experimental Study on High Precision Odometer Strapdown Integrated Navigation System for Vehicles[J].Navigation and Control,2018(6):42-47. |
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| Authors: | GAO Fu-long SHI Ran LIU Yang XING Wei and ZHANG Ming-tao |
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| Institution: | Shanghai Institute of Spaceflight Control Technology, Shanghai 201109;Shanghai Engineer Research Center of Inertia, Shanghai 201109,Shanghai Institute of Spaceflight Control Technology, Shanghai 201109;Shanghai Engineer Research Center of Inertia, Shanghai 201109,Shanghai Institute of Spaceflight Control Technology, Shanghai 201109;Shanghai Engineer Research Center of Inertia, Shanghai 201109,Shanghai Institute of Spaceflight Control Technology, Shanghai 201109;Shanghai Engineer Research Center of Inertia, Shanghai 201109 and Shanghai Institute of Spaceflight Control Technology, Shanghai 201109;Shanghai Engineer Research Center of Inertia, Shanghai 201109 |
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| Abstract: | Although GPS navigation system has the characteristics of high precision and low cost, it is easily restricted by the surroundings. With regard to the special environment (e.g. coal mine), this paper proposes a high precision odometer strapdown integrated navigation system(SINS) which could be operated in a complex working environment. With analysis, simulation and experimental verification, the result shows that without the GNSS signal presentation, the designed odometer SINS integrated navigation system is able to accomplish the long-time(>1h), long-distance(300m) and high-precision navigation (the relative error is only 0.526%) . |
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| Keywords: | strapdown inertial navigation system (SINS) odometer(OD) DSP FPGA |
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