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针对激光惯组斜置条件下惯组坐标系相对里程计坐标系是大角度的情况,建立了两坐标系之间的转换关系,推导了里程计输出转换的安装误差补偿模型,在补偿模型基础上给出了安装误差计算公式。以惯组位移与里程计位移之差作为量测值,建立了状态和量测方程,运用Kalman滤波技术实现惯组/里程计组合导航,最后通过跑车试验对提出的惯性/里程计组合导航方法进行了验证,结果表明了该方法的有效性。
Aiming at the situation that the relative coordinate system of the inertial coordinate system in the inertial coordinate system of the laser inertia system is inclined at a large angle, the conversion relation between the two coordinate systems is established and the error compensation model of the output of the odometer is deduced. Based on the compensation model The installation error is given on the formula. Based on the difference between the displacements of the inertial units and the displacements of the odometer, the state and measurement equations were established. Kalman filtering technology was used to realize the combined navigation of the inertial / odometer. Finally, the proposed inertial / odometer integrated navigation method The results show that the method is effective.