CAJ | 학술논문

针对惯导系统定位误差随时间积累而增大的缺点，提出利用航位推算方法进行误差补偿。在航位推算中根据引起误差的主要因素推导出位置误差方程，以此方程为依据，建立相应的卡尔曼滤波器。将惯导系统速度与航位推算速度之差作为滤波器的输入，估计系统的姿态、速度、位置及里程计刻度系数误差值，并通过闭环反馈进行实时误差补偿修正。任选2条非闭合路径进行跑车实验，第一条路径定位误差补偿修正前是3．49‰，补偿修正后定位误差是2．3‰，第二条路径补偿修正前定位误差是2．4‰，补偿修正后定位误差是2‰。实验结果表明：采用航位推算误差补偿方法可以有效降低系统定位误差。
침대관도계통정위오차수시간적루이증대적결점，제출이용항위추산방법진행오차보상。재항위추산중근거인기오차적주요인소추도출위치오차방정，이차방정위의거，건립상응적잡이만려파기。장관도계통속도여항위추산속도지차작위려파기적수입，고계계통적자태、속도、위치급리정계각도계수오차치，병통과폐배반궤진행실시오차보상수정。임선2조비폐합로경진행포차실험，제일조로경정위오차보상수정전시3．49‰，보상수정후정위오차시2．3‰，제이조로경보상수정전정위오차시2．4‰，보상수정후정위오차시2‰。실험결과표명：채용항위추산오차보상방법가이유효강저계통정위오차。
Aiming at the inherent disadvantage of inertial navigation system (INS )that the posi-tioning error are accumulated over time ,the method of compensating errors in INS /dead reck-oning(DR) integrated system was put forward .The main factors which begot errors in dead reckoning were analyzed ,and the positioning error equation was given ,then the Kalman filter was built for errors compensation of integrated system .The difference of velocity between INS and DR was used as the input of Kalman filter ,the attitude error ,velocity error ,positioning error and the scale factor error of odometer were to be estimated which compensated the errors of integrated navigation system by feedback closed loop rectification .Two non-closed paths were selected in verification experiments .The positioning error of the first path is 3 .49‰ and 2 .3‰ before and after compensation respectively .And that of the second path is 2 .4‰ and 2‰before and after compensation respectively .Experiment results indicate that the system posi-tion accuracy is improved effectively by dead reckoning compensation method .