一种车载惯性导航系统误差抑制方法  

Novel Error Correction Method for Vehicular Inertial Navigation System

作　　者：颜开思[1] 刘亚龙[1] 张锐[1] YAN Kaisi;LIU Yalong;ZHANG Rui

机构地区：[1]中国电子科技集团公司第二十研究所,西安710068

出　　处：《现代导航》2017年第2期97-101,共5页Modern Navigation

摘　　要：针对现有车载惯性导航系统(INS)动态零速修正(ZUPT)方法对载车机动性要求高,急转弯等状态下对惯导误差约束性能差的问题,提出一种基于运动状态检测的车载INS动态零速修正方法,通过对载车不同运动状态进行实时、精确检测,并进行针对性的滤波器设计,提高动态零速修正算法的适应性。跑车试验结果表明,相比传统动态零速修正方法,2.6h最大定位误差提高了160m,证明了该方法的有效性。Traditional dynamic ZUPT for onboard inertial navigation system(INS)highly requires vehicle maneuvering motion,but motions like turning just has weak constraint to the error on INS.A novel dynamic ZUPT algorithm based on detecting the motion state of the vehicle is proposed in this paper.First,precisely detecting the vehicle motion in real time is designed.Then,the corresponding filter for different motion is used to estimate the state error,in order to improve the adaptability of the proposed algorithm.The experiment results show that,compared with the traditional dynamic ZUPT method,the position accuracy is improved by160m in2.6hours,so the validity of the proposed method is proven.

关 键 词：动态零速修正 车载惯导系统 KALMAN滤波 运动状态检测 

分 类 号：TN914[电子电信—通信与信息系统]