车辆无陀螺航位推算系统的导航原理及其算法  

Navigation Principle and Algorithm for Vehicular Dead Reckoning System without Gyroscope

作　　者：杨宜康[1] 林勇 黄永宣[1] 胡保生[1] 

机构地区：[1]西安交通大学系统工程研究所,西安710049

出　　处：《西安交通大学学报》2001年第12期1284-1287,共4页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目 (6 9775 0 12)

摘　　要：建立了利用车辆内部传感器取代惯性敏感器获得航向、速度信息的车辆航位推算 (DR)系统的系统方程和观测方程 ,并采用描述机动载体运动的当前统计模型 ,给出了基于自适应卡尔曼滤波的车载无陀螺DR系统的导航算法 .在导航算法中 ,对原始测量数据进行组合运算获得线性形式的观测方程 ,避免了目前常用导航算法由于观测方程线性化引起的模型误差 ,算法稳定性较好 ,且计算量小 .现场跑车试验表明 。Using internal sensors of vehicle instead of inertia sensor to get orientation/velocity information, the system/observation equations of vehicular dead reckoning (DR) navigation system are established. The current statistics model is introduced to describe the maneuvering vehicle kinematics, and then the navigation algorithm based on adaptive Kalman filter for DR system without gyroscope is proposed. By operating measured data synthetically, linear observation equation is obtained for the navigation algorithm. This approach avoids model error due to linearizing nonlinear observation equation in the conventional algorithm, so that the stability of navigation algorithm is improved and computation expenses are reduced. Field running experiments show that satisfactory accuracy can be obtained by the proposed navigation model and algorithm for the vehicular DR system without gyroscope.

关 键 词：陆地导航 卡尔曼滤波 自适应算法 车辆航位推算系统 导航原理 智能交通系统 GPS 

分 类 号：U463.6[机械工程—车辆工程]