惯导/里程仪组合导航系统算法研究  

Research on INS/OD Integrated Navigation System Algorithm

作　　者：严恭敏[1] 秦永元[1] 马建萍[2] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072 [2]中国航空计算技术研究所,陕西西安710068

出　　处：《计算机测量与控制》2006年第8期1087-1089,共3页Computer Measurement &Control

摘　　要：惯导系统误差随着导航时间而增长,而里程仪测量误差一般随着运载体行驶距离而增加,惯导系统和里程仪具有互补性,推导了简化的惯导/里程仪组合导航系统的卡尔曼滤波方程,研究了里程仪刻度系数误差校正的方法,并提出了里程仪打滑和滑行故障的判断准则,仿真结果表明:经过里程仪刻度系数校正后,组合导航系统能有效提高定位精度,并且具备一定的容错能力。Errors in the Inertial Navigation System （INS） accumulate over time, whereas odometer （on） measurement errors increase relative to distance. The mutual compensation of INS and OD combines them into an integrated navigation system with high performance. The Kalman filter dynamic model for a simplified INS/On integrated navigation system is deduced. The OD scale factor error rectification algorithm is investigated, and the fault detection criteria for OD skidding and sliding error are presented. Simulation results show that after OD scale factor error rectification the integrated system position accuracy is improved effectively, and the system is capable of fault tolerance to some extent.

关 键 词：惯性导航 里程仪 组合导航 刻度系数修正 故障检测 仿真 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]