| 里程计初始标定及误差分析 |
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| 引用本文： | 时海涛,马静,张小跃,张春熹.里程计初始标定及误差分析[J].导航与控制,2015(5):111-115. |
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| 作者姓名： | 时海涛 马静 张小跃 张春熹 |
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| 作者单位： | 北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院 |
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| 摘 要： | 介绍了里程计的初始标定计算方法，利用该方法计算出里程计刻度系数和
航向安装偏差角。在此基础上建立了里程计刻度系数的标定误差模型和航向安装偏差角
的标定误差模型，分析各因素对里程计刻度系数标定和航向安装偏差角标定的影响，并
对误差模型简化，得出影响里程计标定的主要因素是初始航向角误差和Z 轴陀螺漂移。
最后，进行数学仿真，仿真结果与分析结果一致。
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| 关 键 词： | 里程计刻度系数 航向安装偏差角 陀螺漂移 姿态角误差 标定误差 |
The Initial Calibration of Odometer and Error Analysis |
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| SHI Hai-tao,MAJing,ZHANG Xiao-yue and ZHANG Chun-xi.The Initial Calibration of Odometer and Error Analysis[J].Navigation and Control,2015(5):111-115. |
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| Authors: | SHI Hai-tao MAJing ZHANG Xiao-yue and ZHANG Chun-xi |
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| Institution: | School of Instrumentation Science and Opto-electronics Engineering, Beihang University;School of Instrumentation Science and Opto-electronics Engineering, Beihang University;School of Instrumentation Science and Opto-electronics Engineering, Beihang University;School of Instrumentation Science and Opto-electronics Engineering, Beihang University |
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| Abstract: | This paper introduced a method to calculate the initial calibration of odometer, using this method to calibrate
the odometer scale and yaw installation angle. On this basis, the error model of odometer scale and yaw installation
angle were established. The factors affecting the odometer calibration were analyzed and the error model of odometer
scale and yaw installation angle were simplified. According to the error model and error analysis, the main factors affecting
the odometer calibration are initial yaw angle error and Z-axis gyro drift. Finally, numerical simulation was carried
out and the simulation results were consistent with the results of the analysis. |
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| Keywords: | odometer scale yaw installation angle gyro drift attitude error calibration error |
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