CAJ | 학술논문

微机械陀螺广泛应用于组合导航系统.以插秧机 GPS/INS 组合导航系统为研究背景,针对微机械陀螺的误差进行了研究.为了提高插秧机组合导航系统的定位精度,首先通过分析微机械陀螺的工作原理对微机械陀螺的误差来源和分类进行了深入的分析,说明微机械陀螺的随机误差是影响插秧机组合导航系统定位精度的一个主要因素.然后基于时间序列的分析建立了微机械陀螺的 AR 随机误差模型,并利用此模型采用 Kalman 滤波算法对采集的试验数据进行处理.实验结果表明,在采用 AR模型后,微机械陀螺的随机误差的方差减小了一个数量级,随机误差的幅值也明显减小.
미궤계타라엄범응용우조합도항계통.이삽앙궤 GPS/INS 조합도항계통위연구배경,침대미궤계타라적오차진행료연구.위료제고삽앙궤조합도항계통적정위정도,수선통과분석미궤계타라적공작원리대미궤계타라적오차래원화분류진행료심입적분석,설명미궤계타라적수궤오차시영향삽앙궤조합도항계통정위정도적일개주요인소.연후기우시간서렬적분석건립료미궤계타라적 AR 수궤오차모형,병이용차모형채용 Kalman 려파산법대채집적시험수거진행처리.실험결과표명,재채용 AR모형후,미궤계타라적수궤오차적방차감소료일개수량급,수궤오차적폭치야명현감소.
Micromechanical gyro is a widely used in integrated navigation system. In this paper, the micromechanical gyro error was studied based on the transplanter GPS/INS integrated navigation system. In order to improve the positioning accuracy of transplanter GPS/INS integrated navigation system, the working principle and the types of micromechanical gyro errors were studied. In view that random error of micromechanical gyro was a major factor that deteriorates the accuracy of transplanter’s GPS/INS integrated navigation system, the AR random error model was proposed based on time series analysis. The Kalman filter process sampling test data were processed based on the proposed model. Experiment results show that, after using AR model, the micro mechanical gyro random error variance is decreased by one order of magnitude, and the amplitude of random error is also significantly decreased.