摘要
研究了一种利用里程计辅助捷联惯导系统在运动基座下进行自主式对准的方法。利用里程计与捷联惯导中的陀螺仪进行高精度航位推算,建立航位推算的误差模型;将捷联惯导与航位推算的误差作为系统状态,将航位推算获得的姿态、速度信息与捷联惯导输出的对应信息相减作为量测,采用卡尔曼滤波设计运动基座对准算法。仿真结果表明,在基座运动条件下,该方法的水平对准精度达到0.5′,方位对准精度达到3.9′。
An independent alignment method of strapdown inertial navigation system （SINS） aided by odometer on moving base was researched in this paper. The odometer and gyroscopes in SINS were adopted to achieve accurate dead reckoning, and the error models of dead reckoning were built. The errors of SINS and dead reckoning system were chosen as the system states, and the attitude and velocity outputs of dead reckoning system and SINS were chosen as the observations. Then Kalman filter was adopted to design the alignment method on moving base. Simulation results show that, under the condition of moving base, the horizontal aligning accuracy of this method is 0.5′, and the azimuth aligning accuracy is 3.9′.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2013年第3期298-301,307,共5页
Journal of Chinese Inertial Technology
基金
总装预研基金(9140A09030112JB47107)
