车载里程仪参数的实时标定方法

针对里程仪输出的速度(或位置增量),其参数标定误差残差是影响定位定向系统性能的关键因素,传统里程仪参数标定方法需在行车过程中设置精确标志点,且有行驶路线受限的缺点,因此提出一种基于速度量测的定位定向系统误差实时估计和补偿方法.该方法将里程仪刻度系数误差、安装误差残差纳入状态变量进行实时估计并补偿,将惯性导航系统输出的速度与里程仪输出的速度进行对比,构建量测方程.设计跑车试验对该方法进行验证,结果表明该车载里程仪参数的实时标定方法,仅需要在里程仪安装在车辆上后,导航系统做一次正常罗经对准并转惯性/里程仪组合导航模式,在车辆正常行驶过程中,即可自动标定出里程仪参数误差,具有自主、灵活简便、精度高的特点,同时提高了惯性/里程仪组合导航系统定位精度.

A Real-time Calibration for Land Vehicle Odometer Parameter

The odometer''s output is velocity (or position increment), and the odometer calibration residual is the critical factor to determine the performance of the vehicular position and orientation.In traditional way of vehicle odometer calibration, which needs to set up precise land markers and have the limitation of exercising the route. To solve this problem, a real-time error-estimation and compensation method of the positioning and orientation is proposed base measurement of velocity error. This method thinks about the error of the odometer scale factor and the install residuals. Two kinds of velocity which come from the inertial navigation system and the odometer''s output respectively are used to construct the measurement equation. Accomplishing a car test to verify the feasibility of this method, and the results show that : After the car odometer is installed into a vehicle, a normal compass alignment and turn inertia/odometer integrated navigation mode only need to be done by the navigation system. During the state of normal running, OD scale factor and install residuals could be demarcated automatically. The new method has the features of autonomy, flexibility and convenience, high precision. It can be applied to odometer parameter real-time calibration, also improving the precising of inertia/odometer integrated navigation system