高精度陆用惯导零速修正技术研究

零速修正技术是提高陆用惯导定位精度的一项有效手段。在周期性停车过程中，惯导系统除了将速度误差清零外，还能将由陀螺漂移、平台误差角等因素引起的位置误差进行补偿。本文采用离散线性卡尔曼滤波方法，通过连续三个停车时刻的速度误差构造观测向量，对惯导速度误差、加速度误差和陀螺漂移进行估计，进而补偿位置误差。车载试验表明，该零速修正方法位置精度高，且停车时间短，能够满足地面车快速响应的要求。

Research on Zero Velocity Update for High-precision Land-vehicle Inertial Navigation System

Zero velocity update(ZUPT) is an effective means to obtain a higher position accuracy for land-vehicle Inertial Navigation System(INS). During the moment of periodical stops, INS can not only reset the velocity errors, but also compensate the position errors caused by gyro drifts, platform angle errors and other factors. Using discrete linear Kalman filter method, the observation vector is constituted with velocity errors of three adjacent stops, to estimate velocity errors, acceleration errors and gyro drifts, and further to compensate position errors. The vehicle experiment results show that, this method can obtain high position accuracy, and meet the requirement of land vehicles for rapid response due to only a short stop.