CAJ | 학술논문

惯导系统中陀螺漂移和加速度计零位存在逐次启动不重复性误差,需在一定时期内频繁拆卸进行标定,增加了较大的工作量.从工程实用和维护的角度出发,提出了一种针对于车载组合导航系统的在线标定方法.该方法用卡尔曼滤波作为估计工具,利用里程计获得辅助信息,将惯导系统与里程计的位置和速度的差值作为量测值,通过设计接近于一般跑车实验过程的路径对待标定的误差项进行有效激励.仿真卡尔曼滤波结果表明,在一定的时间内各误差项根据车行轨迹进行逐步收敛,实现了在一般跑车实验中不拆卸惯性器件而达到标定的目的,且在精度上较SINS有了明显的提高.这种在线标定的处理方法给实际使用和维护带来了很大的便利,具有一定的工程实用性.
관도계통중타라표이화가속도계령위존재축차계동불중복성오차,수재일정시기내빈번탁사진행표정,증가료교대적공작량.종공정실용화유호적각도출발,제출료일충침대우차재조합도항계통적재선표정방법.해방법용잡이만려파작위고계공구,이용리정계획득보조신식,장관도계통여리정계적위치화속도적차치작위량측치,통과설계접근우일반포차실험과정적로경대대표정적오차항진행유효격려.방진잡이만려파결과표명,재일정적시간내각오차항근거차행궤적진행축보수렴,실현료재일반포차실험중불탁사관성기건이체도표정적목적,차재정도상교SINS유료명현적제고.저충재선표정적처리방법급실제사용화유호대래료흔대적편리,구유일정적공정실용성.
To remove the bias errors of gyro and accelerometer in inertial navigation system make, the inertial devices need to be frequently unloaded to calibrate during a certain period. In view of engineering utility and maintenance, the paper presents an on-line calibration method for vehicular SINS/OD integrated navigation system. It uses Kalman filter to estimate the calibrated errors, and gets the informations from the odometer. The differences of position and velocity between the odometer and the inertial navigation system are taken as the measured value, and a trajectory that closes to general vehicular experiment is designed and used to effectively excite the calibrated errors. The simulation result of Kalman filtering shows that all the errors gradually converge based on the trajectory. It need not take down the IMU in the calibration and the precision is obviously improved. This method brings great convenience for application and maintenance.