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针对里程仪输出的速度(或位置增量),其参数标定误差残差是影响定位定向系统性能的关键因素,传统里程仪参数标定方法需在行车过程中设置精确标志点,且有行驶路线受限的缺点,因此提出一种基于速度量测的定位定向系统误差实时估计和补偿方法。该方法将里程仪刻度系数误差、安装误差残差纳入状态变量进行实时估计并补偿,将惯性导航系统输出的速度与里程仪输出的速度进行对比,构建量测方程。设计跑车试验对该方法进行验证,结果表明该车载里程仪参数的实时标定方法,仅需要在里程仪安装在车辆上后,导航系统做一次正常罗经对准并转惯性/里程仪组合导航模式,在车辆正常行驶过程中,即可自动标定出里程仪参数误差,具有自主、灵活简便、精度高的特点,同时提高了惯性/里程仪组合导航系统定位精度。
According to the speed (or position increment) of the output of the speedometer, the parameter calibration error residual is a key factor that affects the performance of the positioning and orientation system. The traditional method of parameter calibration of the speedometer needs to set the precise marking point in the driving process and has the driving route subject to Therefore, a method of real-time estimation and compensation of system error of orientation and orientation based on velocity measurement is proposed. The method integrates the error of the scale factor and the error of installation into the state variables for real-time estimation and compensation, and compares the output speed of the inertial navigation system with the speed of the output of the speedometer to construct the measurement equation. The test of the sports car design verifies the method. The results show that the real-time calibration method of the on-board odometer parameters only needs to be done after the sounder is installed on the vehicle and the navigation system performs normal compass alignment and inertial / During the normal driving of the vehicle, the error of the odometer parameter can be automatically calibrated, which is autonomous, flexible and convenient, and has high precision and improves the positioning accuracy of the inertial / odometer integrated navigation system.