CAJ | 학술논문

里程计刻度系数和惯导的安装误差的标定是影响捷联惯导与里程计组合导航精度的重要因素，针对这一问题，提出基于递推最小二乘的标定方法。标定实验表明：在50 s左右即可得到较准确的估计值，20 min标定的里程计刻度系数结果优于5 min 标定的结果，且在跑车过程中真实里程计刻度系数是有变化的；相对于弯曲路线，平直路线中安装误差角的估计更准确。最后通过跑车试验，以GPS实测数据为参考，50 min跑车约40 km，航位推算位置误差在50 m以内，验证了标定结果的准确性，说明所用标定方法有很强的工程应用价值。
리정계각도계수화관도적안장오차적표정시영향첩련관도여리정계조합도항정도적중요인소，침대저일문제，제출기우체추최소이승적표정방법。표정실험표명：재50 s좌우즉가득도교준학적고계치，20 min표정적리정계각도계수결과우우5 min 표정적결과，차재포차과정중진실리정계각도계수시유변화적；상대우만곡로선，평직로선중안장오차각적고계경준학。최후통과포차시험，이GPS실측수거위삼고，50 min포차약40 km，항위추산위치오차재50 m이내，험증료표정결과적준학성，설명소용표정방법유흔강적공정응용개치。
Calibrations of odometer’s scale factor and the installation error between SINS and odometer are crucial factor which impact the accuracy of Strapdown Inertial Navigation System/Odometer(SINS/OD)integrated navigation system. As to this issue, a calibration method based on recursive least square(RLS)is presented. The results of calibration experiments show that accurate estimates can be gained in approximately 50 s, and calibration results of 20 min outgoes the calibration results of 5 min, and the real scale factor of odometer is variational during the journey. In addition, compared with the estimation of curving route, the estimation of the installation error between SINS and odometer in flat route is more accurate. At last, field tests are carried out, the GPS data is regarded as reference, the vehicle runs 40 km in 50 min, and the position error of dead reckoning is less than 50 m which proves the exactness of the calibration, and indicates that the calibration method is valuable in engineering application.