基于航位推算的车载组合导航系统NHC杆臂估计算法  

NHC lever arm estimation algorithm for vehicle-integrated navigation systems based on dead reckoning

作　　者：邓成剑 陈起金 张提升[1] 牛小骥[1] DENG Chengjian;CHEN Qijin;ZHANG Tisheng;NIU Xiaoji(GNSS Research Center,Wuhan University,Wuhan 430079,China)

机构地区：[1]武汉大学卫星导航定位技术研究中心,武汉430079

出　　处：《北京航空航天大学学报》2025年第2期668-675,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(41974024)。

摘　　要：车辆运动的非完整性约束(NHC)可用作车载组合导航系统的速度观测信息,能够有效抑制惯性导航系统(INS)的误差累积。充分发挥NHC的约束作用需要准确估计和补偿IMU安装角和NHC杆臂。因此对NHC杆臂进行研究,通过三维航位推算(dead reckoning)及扩展卡尔曼滤波器,在没有里程计的情况下,同时估计IMU安装角和NHC杆臂。实验结果表明,本算法能够同时准确估计高精度惯导和低精度MEMS惯导的安装角和NHC杆臂,安装角估计误差小于0.1°,使用估计的NHC杆臂投影点比IMU中心更符合NHC约束条件,能够明显提高NHC约束的辅助效果,提升车载组合导航系统的性能。The non-holonomic constraint(NHC)of vehicle motion can be used as the velocity observation information for the vehicle-integrated navigation system,which can effectively suppress the error accumulation of the inertial navigation system(INS).To fully exert the constraint function of NHC,it is significant to accurately estimate and compensate for the inertial measurement unit(IMU)stagger angle and NHC lever arm.This paper researched the NHC lever arm and estimated the IMU stagger angle and NHC lever arm simultaneously by three-dimensional dead reckoning and Kalman filter without an odometer.The results show that the proposed algorithm can accurately estimate the stagger angle and NHC lever arm of the high-precision INS and low-precision micro-electro-mechanical system(MEMS)INS,and the stagger angle error is less than 0.1°.The estimated NHC lever arm projection point is more in line with the NHC constraint condition than the IMU center,and it can significantly improve the auxiliary effect of NHC constraint and strengthen the performance of the vehicle-integrated navigation system.

关 键 词：车载组合导航系统 航位推算 非完整性约束 NHC杆臂 IMU安装角 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]