| 车载捷联惯导与里程计组合导航技术研究 |
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| 引用本文： | 罗强力,韩军海.车载捷联惯导与里程计组合导航技术研究[J].导航与控制,2011(4):6-11. |
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| 作者姓名： | 罗强力 韩军海 |
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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： | 惯导的误差随着时间增长是积累的,可采用里程计辅助捷联惯导构成纯自主的车载组合导航系统.利用捷联惯导的速度和里程计测量的速度之差作为观测量,通过卡尔曼滤波技术校正惯导的导航参数,可以有效地抑制惯导误差的积累,提高导航参数的精度.本文推导了组合导航系统的模型,从理论上用特征值方法分析了系统的可观测度,进而设计轨迹进行了仿真...
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| 关 键 词： | 捷联惯导 里程计 组合导航 可观测度 |
Research on SINS and OD Integrated Navigation System for Land Vehicles |
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| LUO Qiang-li and HAN Jun-hai.Research on SINS and OD Integrated Navigation System for Land Vehicles[J].Navigation and Control,2011(4):6-11. |
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| Authors: | LUO Qiang-li and HAN Jun-hai |
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| Institution: | Beijing Institute of Aerospace Control Device;Beijing Institute of Aerospace Control Device |
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| Abstract: | The error of INS (inertial navigation system) accumulates over time,so an independently integrated navigation system using OD ( odometer) to assist SINS ( strapdown inertial navigation system) is discussed. adopting the velocity's differences between SINS and OD as observed parameters,and the errors of navigation parameters are effectively estimated and corrected using Kalman filter technology. This paper investigates the model of the integrated navigation system,and theoretically analyzes it's observability.Then a track is designed and a simulation based on this track is carried out. The results of simulation validate the conclusion of the observability analysis,and show that the error of INS decreases greatly.In addition,the azimuth error can be estimated accurately after swerving. |
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| Keywords: | strapdown inertial navigation system odometer integrated navigation degree of observability |
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