车载惯导里程仪组合导航系统安装误差标定研究  

On SINS Installation Error Calibration of a Multimode Vehicular Navigation System

作　　者：赵长山[1] 秦永元[1] 夏家和[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《计算机测量与控制》2008年第10期1393-1395,共3页Computer Measurement &Control

摘　　要：研究了捷联惯导、GPS、里程仪和气压高度计构成的组合导航系统中惯导安装误差角对里程仪航位推算精度的影响;提出了以GPS输出作为辅助信息对惯导安装误差进行标定的方法;设计了以里程仪航位推算误差传播方程为系统方程,以里程仪航位推算结果和GSP位置输出之差为量测,通过卡尔曼滤波估计惯导安装误差的标定方法;仿真结果表明,该方法对惯导安装误差的标定精度能达到角秒级。在调试过程中采用该方法标定补偿后的系统实际跑车实验航位推算精度达到5m+行程的0.15%,表明补偿后残余的惯导安装误差影响已经可以忽略。An multimode vehicular navigation system, composed of a SINS, a GPS receiver, a barometer and an odometer is studied. The relationship between the positioning error of the odometer dead-reckoning system and the SINS installation error reference to the vehicle, namely the navigation error propagation equation, is derived. A Kalman filter based method is proposed for the calibration of the SINS installation error. The navigation error propagation equation works as the system function of the Kalman filter. Whilst, the difference between the positing result of GPS and the odometer dead--reckoning system is used as the measurement. Simulation results show that the installation error can be estimated to arc-second degree. An experiment is conducted to examine the positioning precision of the odometer dead-reckoning system after calibrating and compensating the installation error with the method proposed here. The positioning error of the dead-reckoning system is less than 5m＋0. 15% of the distance, which means the effect of the residue installation error can be neglected.

关 键 词：里程仪 捷联惯导 安装误差 GPS 

分 类 号：V241.622[航空宇航科学与技术—飞行器设计]