车载捷联惯导双里程计组合导航方法研究  

Research on Integrated Navigation Algorithm with SINS and Double Odometers

作　　者：郭楠楠 申亮亮[1] 邵会兵[1] 苑艳华 GUO Nan-nan;SHEN Liang-liang;SHAO Hui-bing;YUAN Yan-hua(Beijing Institute of Control and Electronic Technology, Beijing 100038, China)

机构地区：[1]北京控制与电子技术研究所,北京100038

出　　处：《导航定位与授时》2020年第6期86-93,共8页Navigation Positioning and Timing

摘　　要：针对当前车载捷联惯导与里程计组合导航时,将里程计安装在车底盘左侧或右侧位置而造成的导航误差,以及里程计信息未能真实反映车体中心的实际运行状态,研究了一种车载捷联惯导/双里程计组合导航方法。该方法分别在车底盘左侧和右侧位置各安装了一个里程计,将双里程计信息作为量测量,设计了组合导航融合算法进行Kalman滤波组合导航。在导航过程中对双里程计信息进行χ2检测,以避免车体作大转弯运行或有外部干扰时引起的里程计信息异常。跑车试验结果表明,该融合算法能使定位结果得到最优融合,定位误差整体减小到20m以内,最大处减小6m,离线分析进一步证明了该融合算法的有效性。In view of the navigation errors caused by the fact that the odometer is installed on the left or right side of the chassis during the integrated navigation of the SINS and odometer,and the information of the odometer does not truly reflect the actual running state of the vehicle body center,a combined navigation method of the onboard SINS/dual odometer is studied in this paper,this method respectively installs an odomets on both the left and right side of the chassis,takes the information of the dual odometer as measurement,and designs the integrated navigation fusion algorithm for Kalman filter integrated navigation.In the navigation,the odometer information is checked byχ2 test to avoid abnormal odometer information caused by vehicle turning or external interference.Vehicle test results show that the fusion algorithm can make the optimal fusion of the positioning results,the positioning error is reduced to less than 20 meters overall and 6 meters at the maximum.The result of off-line analysis further confirms that the integrated navigation algorithm is efficacious.

关 键 词：组合导航 双里程计 最优融合 故障检测 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]