摘要
针对里程计标度因数误差以及安装误差对捷联惯导/里程计组合导航精度存在较大影响的问题,提出一种基于运动学非完整约束的里程计参数在线辨识方法。通过建立航位推算误差模型,利用里程计输出,计算车辆的向心加速度,并与捷联惯导的加速度计输出计算的向心加速度做差作为量测之一;将里程计与捷联惯导输出的速度做差作为量测之二;通过卡尔曼滤波实现里程计标度因数误差以及安装误差的在线辨识。仿真结果表明,该方法组合导航相比速度组合导航,当车辆行驶960s,其东向定位精度提高19.6 m,北向定位精度提高14.2 m。仿真和车载试验结果均表明该方法能实现里程计参数的有效辨识以及航向安装偏差角的估计,有助于提高组合导航精度。
In view that odometer scale factor error and installation error have significant influence on the navigation precision of strapdown inertial navigation system （SINS）/odometer integrated system, an online identification method for odometer parameters is proposed based on kinematic incomplete constraints. By establishing the dead reckoning error model, the centripetal acceleration of the vehicle is calculated using the odometer output, and the difference between the calculated centripetal acceleration and that of the SINS accelerometer output is taken as one of the measurements. The speed difference between the odometer and the SINS output is taken as the other measurement. A Kalman filter is used to realize the online identification of odometer scale factor error and installation error. Simulation results show that, by the proposed method, the east and north positioning accuracies of the vehicle are increased by 19.6 m and 14.2 m respectively compared with the velocity integrated navigation method. Simulation and vehicle test both demonstrate that this method can effectively identify the odometer parameters and estimate the deviation angle of course installation, which is helpful for improving the precision of the integrated navigation.
作者
宋金龙
石志勇
王律化
王海亮
SONG Jinlong;SHI Zhiyong;WANG Lvhua;WANG Hailiang(Army Engineering University,Shijiazhuang 050003,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2018年第3期352-358,共7页
Journal of Chinese Inertial Technology
基金
国防预研基金(9140A09031715JB34001)
关键词
里程计
标度因数误差
安装误差
参数在线辨识
组合导航
odometer
scale factor error
installation error
online identification of parameters
integratednavigation
