| 捷联惯导系统/里程计自主式车载组合导航系统研究 |
| Research on SINS/OD Independently Integrated Navigation System for Land Vehicles |
| Received:June 01, 2005 |
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| 中文摘要: |
| 利用里程计辅助捷联惯导系统构成一种完全自主式的车载组合导航系统.本文详细推导了里程计的速度误差方程.用捷联惯导系统解算出的速度量和里程计所测量的速度量之差作为组合导航系统卡尔曼滤波器的观测量,利用闭环卡尔曼滤波技术进行误差估计与校正,并给出了系统仿真结果.仿真结果表明该组合导航系统可有效地减小姿态、速度、经度和纬度等导航参数的误差累积. |
| 英文摘要: |
| An independently integrated navigation system using odometer(OD) to assist the strapdown inertial navigation system(SINS/OD) is discussed.In this paper,the OD error equations are proposed in detail.The observed quantity of the SINS/OD is the velocity's differences between SINS and OD,and the SINS/OD also adopts a closed kalman filter to estimate and correct the errors.The results of simulation indicate that the SINS/OD can effectively eliminate the following errors of navigation parameters:attitude,velocity,latitude and longitude etc. |
| 丁文娟 李岁劳 熊伟 |
| 西北工业大学自动化学院,陕西西安710072 |
| 中文关键词: 捷联惯导系统 里程计 组合导航 卡尔曼滤波 |
| 英文关键词:strapdown inertial navigation system odometer integrated navigation kalman filter |
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