激光陀螺捷联惯性导航系统零速修正研究  

Research on Zero Speed Correction of Laser Gyro Strapdown Inertial Navigation System

作　　者：王建中[1] WANG Jianzhong(Chongqing Youth Vocational ＆ Technical College Information Engineering Department,Chongqing 400712,China)

机构地区：[1]重庆青年职业技术学院信息工程系,重庆400712

出　　处：《压电与声光》2018年第4期626-632,共7页Piezoelectrics & Acoustooptics

基　　金：重庆市教委科学技术研究项目MEMS捷联惯性导航系统研究(No.KJ1603902);重庆市基础科学与前沿技术研究专项北斗组合导航系统的数据融合方法研究(No.cstc2016jcyjA0138);新媒体环境下的教学资源管理云平台建设与教育教学深度融合研究

摘　　要：针对激光陀螺捷联惯性导航系统不依赖外部信息修正,长时间工作累积放大的问题,分析常用的零速修正算法二次曲线拟合法、最小二乘法、卡尔曼滤波法等,结合车载激光陀螺捷联惯性导航系统实际应用,提出一种自适应零速修正方法,利用零速修正技术的约束条件,构建15个基本误差参数,根据系统自身误差特性,设计出系统的状态量测矩阵和量测方程,并采用基于普条件数可观测理论对系统各状态进行了可观测性分析,确定卡尔曼滤波器参数,从而实现对位置坐标、姿态角、速度误差进行了有效估计,可以有效提高惯性测量单元(IMU)导航精度。实验表明,采用该方法能有效提高了捷联惯性导航系统导航精度,既克服了频繁停车,又增强了载体的机动性能。Aiming at the problems that the laser gyro strapdown inertial navigation system is independent on the correction of the external information and the cumulative amplification for long time operation,an adaptive zero velocity correction method is proposed by analyzing the common zero velocity correction algorithms of the twice curve fitting method,least square method and Calman filtering method as well as combining the practical applications of vehicle borne laser gyro strapdown inertial navigation system.Fifteen basic error parameters are constructed by making use of the constraint condition of zero velocity correction technology.According to the error characteristics of the system itself,the state measurement matrix and measurement equations of the system are designed,and observability analysis of the system states is carried out based on the observable theory of the general condition number to determine the parameters of the Kalman filter so as to realize the position coordinates,attitude angle and velocity error are effectively estimated, which can effectively improve the navigation accuracy of IMU.The experimental results show that this method can effectively improve the navigation precision of strapdown inertial navigation system,which not only overcomes the frequent parking,but also enhances the maneuverability of the carrier.

关 键 词：激光陀螺 惯性测量单元 零速修正 卡尔曼滤波 误差参数 

分 类 号：TN384[电子电信—物理电子学]