摘要
针对现有零速修正方法效率低下的问题,以某型自行火炮为研究对象,利用加速度信息推导出了匀速直线运动时载体两个方向的姿态及角速度,并详细介绍了推导过程。为提高零速修正的精度和实时性,以所得姿态为基准,将其加入到滤波观测量中,使得原有速度匹配改为速度加姿态匹配,提出了高精度动态零速修正方法。仿真结果表明,利用加速度信息能有效获得当前载体姿态,验证了该方法的正确性。在跑车实验之前,利用有限冲激响应(finite impulse response,FIR)数字滤波器处理加速度计输出信息,实验结果表明,所提新方法能大幅提高零速修正的精度和实时性,东向位置误差在10m以内,北向位置误差在20m以内,实现了在连续行车条件下的高精度导航和误差标定。
Taking certain type self-propelled gun as the target of study,two directions of attitude and angular velocity are derived using the acceleration information when the carrier in a uniform straight line motion,and the derivation process are introduced in detail.In order to improve the zero velocity update precision and realtime performance,the attitude is taken as a benchmark,and is added to the filter in the observation.The original velocity matching is changed to velocity and attitude matching.The high precision dynamic zero velocity update method is put forward.The simulation results show that using acceleration information can effectively get the current carrier attitude,verifying the correctness of the method.Before sports car test,the accelerometer output information is processed using the finite impulse response（FIR）digital filter.The experiment results show that the accuracy and real-time performance of zero velocity update is greatly increased by using the proposed method,limiting the east position error within 10 m,and north position error within 20 m.High precision navigation and error calibration are realized under the condition of continuous driving.
作者
王志伟
狄长春
杨功流
石志勇
杨玉良
王风杰
WANG Zhiwei;DI Changchun;YANG Gongliu;SHI Zhiyong;YANG Yuliang;WANG Fengie(Department of Artillery Engineering , Army Engineering University , Shijiazhuang 050003 , China;School of InsirumenUion Science and OpLo-elecLronics Engineering , Beihang University , Beijing 100191 , China;Unit 63870 of the PLA , Huayin 714200 , China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2017年第12期2782-2789,共8页
Systems Engineering and Electronics
基金
国防预研基金资助课题
关键词
晃动补偿
捷联惯导
零速修正
有限冲激响应数字滤波
shaking compensation
strapdown inertial navigation system（SINS）
zero velocity update
finite impulse response（FIR）digital filter
