INS/GPS多传感器车载组合导航系统算法研究  

Optimized Arithmetic of INS/GPS Multi-sensor Integrated Navigation System Used in Vehicle

作　　者：李宝林[1] 李勇建[1] 刘勇[1] 李星海[1] 

机构地区：[1]中国电子科技集团公司第26研究所,重庆400060

出　　处：《压电与声光》2012年第1期37-41,80,共6页Piezoelectrics & Acoustooptics

摘　　要：理论分析光纤陀螺和石英挠性加速度计的传感原理,对组合导航系统中的惯性测量单元(IMU)建立相应的误差模型,其误差模型包含了IMU传感器的标度因数的非线性模型、零偏的漂移模型、交叉耦合误差模型和标度因数、零偏的温度模型等。针对建立的误差模型进行误差补偿,同时针对车载环境设计了IMU传感器信号的数字滤波器,提高组合导航系统在车载环境下的适应性。GPS、高度计、里程计等多传感器信息的引入克服了惯性传感器独立长时间导航的发散问题。针对车载组合导航系统的非线性误差模型,设计了UKF组合导航算法,进行仿真和跑车试验,该方法能有效改善组合导航系统在劣等路面跑车试验效果。Sensing principle of fiber optic gyroscope and quartz flexibility（Q-flex） accelerometer is analyzed theoretically.Error model which is made up of the scale-factor nonlinearity model,bias model,cross-coupling error model and temperature model of IMU in the integrated navigation system is established.The error of the IMU is compensated and digital filter for the signal of IMU sensors is schemed in order to improve the applicability of the integrated navigation system in vehicle.GPS,barometer and rotary encoder are used in the integrated navigation system for resolving the problem of non-convergence caused by the long term navigation.The integrated navigation arithmetic using unscented kalman filter is schemed in order to solve the problem of nonlinearity errors in navigation system.The result of simulation and dynamic test of UKF in execrable road is exciting.The above-mentioned methods enhance the overall navigation performance.

关 键 词：UKF 误差补偿 惯性测量单元(IMU) GPS 滤波 

分 类 号：V241.5[航空宇航科学与技术—飞行器设计]