基于光纤陀螺的车载导航系统测量精度优化  

Optimization of the measurement accuracy of vehicle navigation system based on interferometric fiber optic gyroscope

作　　者：黄凯[1] 彭松林 王焱力 罗涛 李克凡 郑宇 HUANG Kai;PENG Song-lin;WANG Yan-li;LUO Tao;LI Ke-fan;ZHENG Yu(The Engineering and Technical College of Chengdu University of Technology,Leshan 614000,China)

机构地区：[1]成都理工大学工程技术学院,四川乐山614000

出　　处：《电子设计工程》2020年第17期6-9,14,共5页Electronic Design Engineering

基　　金：乐山市重点科技计划项目(19GZD018);成都理工大学工程技术学院青年科学基金(C112019005);成都理工大学工程技术学院教改项目(2018-JYJG-0212)。

摘　　要：基于实现车载导航系统测量精度优化,提高司机及行人安全性的目的。采用平滑扩展卡尔曼滤波技术,对基于干涉式光纤陀螺的车载导航系统进行测量精度优化。尽管系统具备相对较好的性能,但还是存在测量误差。传统的卡尔曼滤波和扩展卡尔曼滤波作为先进的滤波模式,对信号具有比较好的滤波效果,已经得到了广泛的应用。利用MATLAB软件,分别采用平滑扩展卡尔曼滤波与传统卡尔曼滤波及扩展卡尔曼滤波方法,对车载导航系统的位置、速度及加速度误差进行仿真,得到平滑扩展卡尔曼滤波的位置最大误差为2.5 m、速度最大误差为0.1 m/s及加速度最大误差为0.018 m/s^2的结果。通过对比分析得出平滑扩展卡尔曼滤波器的性能远优于传统卡尔曼滤波器及扩展卡尔曼滤波器的结论。based on the purpose of optimizing the measurement accuracy of vehicle navigation system and improving the safety of drivers and pedestrians.The measurement accuracy of vehicle navigation system based on interferometric fiber optic gyroscope is optimized by using smooth extended Kalman filter technology Although the system has relatively good performance,there are still measurement errors As advanced filtering mode,traditional Kalman filter and extended Kalman filter have good filtering effect on signal and have been widely used.Using Matlab software,the position,velocity aud acceleration errors of vehicle navigation system are simulated by using smooth extended Kalman filter and traditional Kalman filter and extended Kalman filter respectively.The results show that the maximum error of position is 2.5 m,the maximum error of velocity is 0.1 m/s and the maximum error of acceleration is 0.118 m/s2 of smooth extended Kalman filter are obtained.Through comparative analysis,it is concluded that the performance of smooth extended Kalman filter is much better than that of traditional Kalman filter and extended Kalman filter.

关 键 词：光纤陀螺 导航 测量 滤波 

分 类 号：TM923.0[电气工程—电力电子与电力传动] TN929.5[电子电信—通信与信息系统]