惯导系统的零速校正技术研究  

Study of Zero Velocity Update for Inertial Navigation

作　　者：奔粤阳[1] 孙枫[1] 高伟[1] 陈明辉[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《系统仿真学报》2008年第17期4639-4642,共4页Journal of System Simulation

基　　金：国家自然科学基金(60604019)

摘　　要：针对传统零速校正中存在的问题,提出了改进的曲线拟合法和滤波估计法。改进的曲线拟合法通过对惯导系统误差模型的分析,解耦出速度误差项的舒拉部分。从而更准确地拟合出速度误差曲线。改进的滤波估计法引入偏差去耦技术在零速校正期间估计出陀螺漂移,并利用速度信息快速估计出方位误差角。仿真分析表明,两种方法都可以有效提高惯导系统的性能。In view of the problems about conventional zero velocity update （ZUPT） , the improved curve fitting method and filter estimation method were provided. In the improved curve fitting method, the Schuler component in velocity error was decoupled through the analysis of inertial navigation system. The more accurate curve fitting was proposed consequently. In the improved filter estimation method, the decoupled state and bias estimation technology is introduced to estimate gyro constant bias during ZUPT. The azimuth misalignment was estimated by velocity information. The simulation results show that both of the methods could improve the performance of inertial navigation.

关 键 词：惯导系统 零速校正 曲线拟合 偏差去耦 

分 类 号：TP271.61[自动化与计算机技术—检测技术与自动化装置] TP29[自动化与计算机技术—控制科学与工程]