CAJ | 학술논문

为提高车载捷联惯导系统的自主导航精度,增强载车机动性能,采用了车辆运动学约束条件辅助的组合导航算法.利用车辆正常行驶过程中横向和法向速度为零的约束条件,在考虑惯导系统安装偏差角的基础上,推导了卡尔曼滤波算法模型.采用此方案进行了80 km的车载导航试验,水平定位精度为16.6m(CEP),高度定位精度为14.9 m(PE).该方法可以作为里程计失效情况下的备份导航方案,也可以用在零速修正方式中延长停车间隔时间.
위제고차재첩련관도계통적자주도항정도,증강재차궤동성능,채용료차량운동학약속조건보조적조합도항산법.이용차량정상행사과정중횡향화법향속도위령적약속조건,재고필관도계통안장편차각적기출상,추도료잡이만려파산법모형.채용차방안진행료80 km적차재도항시험,수평정위정도위16.6m(CEP),고도정위정도위14.9 m(PE).해방법가이작위리정계실효정황하적비빈도항방안,야가이용재령속수정방식중연장정차간격시간.
In order to improve the independent navigation accuracy of vehicular SINS and enhance the mobility of the car, the integrated navigation method aided by the motion constraints of the vehicle was adopted. By making use of the condition that the cross-track and vertical velocity of the normal running vehicle were zero, and taking the installation errors of SINS into consideration, the Kalman filter algorithm was deduced, the vehicular navigation experiment for about 80 km was implemented. The results show that the level positioning precision was 16.6 m(CEP) and the altitude precision was 14.9 m (PE). This method can be used as a backup navigation strategy to be used when the odometer was invalidated, and can also be used to extend the interval time of stopping car in ZUPT(zero-velocity update) mode.