摘要
当惯组(IMU)安装到车体上时存在安装偏差,推导了安装偏差及刻度系数误差对里程计速度的影响,进而导出了航位推算(DR)的位置误差方程及位置更新算法;建立了SINS/DR组合导航的状态方程和量测方程,以捷联惯导的位置与航位推算的位置之差作为组合导航卡尔曼滤波器的输入,估计出安装偏差和刻度系数误差的值并对航位推算进行补偿;仿真及跑车数据的验证分析结果表明了误差估计方法的有效性和正确性。
Since IMU can not be installed on vehicle precisely, there must be some installation error, the paper gives variety of velocity of odometer due to installation error and scale factor error, which deduce positional error propagate equation and positional iterative arithmetic of dead reckoning. State equations and measurement equations of SINS/DR integrated navigation are established, the difference of position between SINS and DR is used as the input of kalman filter, installation error and scale factor error are to be estimated which compensate DR system to enhance precision. Carry out simulation test and experiment upon vehicular navigation system, and the result proved to be available and credible.
出处
《计算机测量与控制》
CSCD
北大核心
2011年第2期389-391,共3页
Computer Measurement &Control
