无人车捷联惯导系统仿真器设计  

Design of Unmanned Vehicle Strapdown Inetial Navigation System Simulator

作　　者：李超 王吉华[1] 郭栋[1] 曲金玉[1] LI Chao;WANG Ji-hua;GUO Dong;QU Jin-yu(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo Shandong 255000,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255000

出　　处：《计算机仿真》2020年第3期117-122,共6页Computer Simulation

基　　金：国家自然科学基金(51508315);山东省重点研发计划项目(2017GGX50103)。

摘　　要：捷联惯导系统仿真模块的研究对于组合导航有着重要意义,为了检验该模块性能,在无人车轨迹模拟器的基础上分别基于方向余弦法与四元素法对捷联惯导系统仿真器进行了设计。首先基于运动学模型模拟无人车行驶的平面运动轨迹,并基于高斯投影反算原理求出该轨迹中各点所对应的经纬度信息作为真实值。基于该运动轨迹将对应的三维加速度与三维姿态角输入到捷联惯导系统仿真模块中,将求解出的经纬度作为计算值。将计算值与真实值进行比较,发现经纬度误差随时间而递增,三维姿态角误差随时间呈现周期性振荡,实际应用中有必要对误差进行相应的补偿。The research of strapdown inertial navigation system simulation module is of great significance for integrated navigation.In order to verify its performance,the strapdown inertial navigation simulator was designed by direction cosine and quaternion methods respectively based on the unmanned vehicle trajectory simulator.First of all,based on the kinematic model of unmanned vehicle the plane trajectory was simulated,and the latitude and longitude information was set as an actual value which can be obtained on the basis of Gaussian projection inverse principle.Secondly,the Three-axis accelerations and Euler angles based on the trajectory was input to the strapdown inertial navigation system simulation module,and the calculated latitude and longitude information was set as a calculated values.Finally,the conclusions can be drawn that the longitude and latitude errors will increase over time and Euler angles will be periodic oscillation with time by comparing the calculated value and actual value.Thus,it is essential to compensate its errors in practice.

关 键 词：捷联惯导系统 轨迹仿真器 高斯投影反算原理 方向余弦法 四元素法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]