基于车辆运动约束的里程计误差在线标定方法  

Online calibration method for odometer's errors based on vehicle motion constraints

作　　者：李艳[1] 杨波 薛亮 周小刚[2] LI Yan YANG Bo XUE Liang ZHOU Xiao-gang(College of Information, Chang＇an University, Xi＇an 710064, China Department of Automation, The Second Artillery Engineering University, Xi＇an 710025, China)

机构地区：[1]长安大学信息学院,西安710064 [2]第二炮兵工程大学控制工程系,西安710025

出　　处：《中国惯性技术学报》2016年第4期485-489,共5页Journal of Chinese Inertial Technology

摘　　要：为了降低里程计误差对捷联惯导/里程计组合定位定向精度的影响,提出了基于车辆运动约束条件的里程计误差在线标定方法。通过对里程计标度因数误差进行建模,推导建立了航位推算的误差模型,将航位推算的速度输出沿车体横向、垂向的投影作为量测的一部分,将捷联惯导输出的速度、位置信息与航位推算输出的对应信息相减作为另一部分量测,通过卡尔曼滤波获得里程计标度因数误差等状态量的最优估计值,实现里程计误差的在线标定。仿真结果表明,该方法能够有效地标定出里程计标度因数误差,从而确保了捷联惯导/里程计组合定位定向的精度。In order to reduce the odometer errors＇ influences on the accuracy of integrated positioning and heading in strapdown inertial navigation system/odometer（SINS/OD）, an online calibration method for odometer errors based on vehicle motion constraints was studied. The error of odometer＇s scale factor was modeled, and the error model of dead reckoning（DR） was deduced. The projections of DR＇s velocity outputs on the transverse and vertical of vehicle body were chosen as one part of the observations, and the velocity and position outputs of SINS and DR were chosen as the other part of the observation. Then the optimal estimations of the odometer＇s scale factor error and other state variables were obtained by a Kalman filter. Thus the online-calibration of odometer errors was achieved. Simulation results show that, the odometer＇s scale factor error can be effectively calibrated by this method, thus the positioning and heading accuracy of the integrated SINS/OD can be ensured.

关 键 词：里程计误差标定 车辆运动约束 组合定位定向 航位推算 卡尔曼滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]