基于GPS/DR的车辆导航中在线计算陀螺仪参数的一种方法  

A Method of Calculating the Parameters of Gyro On-Line in GPS/DR Based Vehicle Navigation

作　　者：尹爱昌[1] 张哲[1] 胡晨[1] 

机构地区：[1]东南大学国家专用集成电路系统工程中心,南京210096

出　　处：《电子器件》2007年第1期177-179,共3页Chinese Journal of Electron Devices

摘　　要：陀螺仪是GPS/DR组合导航中常用的一种惯性元件.陀螺仪的零偏漂移(biasdrift)误差和比例因子(scalefactor)误差直接决定了DR(deadreckoning)导航的精度.首先分析了陀螺仪的误差模型,然后创造性地提出了一种利用GPS的输出信息用最小二乘法在线计算陀螺仪比例因子参数的方法,最后设计实验验证了该方法.试验证明,该方法收敛迅速,计算结果准确,有效提高了盲区导航的精度.Gyro is a commonly used inertial instrument in GPS/DR based vehicle navigation. The parameters of bias drift and the scale-factor are the key factors determining the precision of vehicle navigation. The parameter error is analyzed firstly. Then, a method of calculating the parameters of gyro on-line using the method of least square with the GPS data is proposed. The method is proved with an experiment lastly. The experiment result shows that this method is quick in convergence and meets the requirement of dead reckoning.

关 键 词：GPS/DR 最小二乘法 陀螺仪 比例因子 零偏漂移 

分 类 号：V241.5[航空宇航科学与技术—飞行器设计]