航位推算组合导航系统在线标定技术
发布时间：2018-08-04 19:59
【摘要】：在航位推算组合导航系统中,存在里程计安装偏差角误差和标度因数误差。推导了里程计安装偏差角误差和标度因数误差对航位推算速度和位置精度的影响,并提出了一种航位推算组合导航系统在线标定算法。该算法利用航位推算的速度与GPS的速度之差作为速度量测,航位推算的位置与GPS的位置之差作为位置量测,对航位推算组合导航系统的姿态误差、安装偏差角误差和标度因数误差进行有效估计,并通过仿真试验和车载试验对该算法的有效性进行了验证。试验结果表明,通过车载试验在线标定出的里程计各误差参数与里程计传统标定法标定的结果接近,且该算法计算量小,具有一定的工程应用价值。
[Abstract]:In the position estimation combined navigation system, there is a deviation angle error and the scale factor error of the erodometer installation. The influence of the deviation angle error and the scale factor error on the position estimation speed and position accuracy is deduced, and an online calibration algorithm for the position estimation combined navigation system is proposed. The difference between the velocity and the velocity of GPS is measured as the velocity measurement, the position of the estimated position and the position of the GPS are measured as the position measurement, and the error of the attitude error, the error of the installation deviation angle and the scale factor are effectively estimated, and the validity of the algorithm is verified by the simulation test and the vehicle test. The results show that the error parameters of the mileage meter calibrated by the on-board test are close to the result calibrated by the traditional mileage calibration method, and the calculation amount of the algorithm is small, and it has certain engineering application value.
【作者单位】： 西北工业大学航海学院;航天第十六研究所;
【基金】：船舶预研基金(12J4.2.4)
【分类号】：U463.67;U495
[Abstract]:In the position estimation combined navigation system, there is a deviation angle error and the scale factor error of the erodometer installation. The influence of the deviation angle error and the scale factor error on the position estimation speed and position accuracy is deduced, and an online calibration algorithm for the position estimation combined navigation system is proposed. The difference between the velocity and the velocity of GPS is measured as the velocity measurement, the position of the estimated position and the position of the GPS are measured as the position measurement, and the error of the attitude error, the error of the installation deviation angle and the scale factor are effectively estimated, and the validity of the algorithm is verified by the simulation test and the vehicle test. The results show that the error parameters of the mileage meter calibrated by the on-board test are close to the result calibrated by the traditional mileage calibration method, and the calculation amount of the algorithm is small, and it has certain engineering application value.
【作者单位】： 西北工业大学航海学院;航天第十六研究所;
【基金】：船舶预研基金(12J4.2.4)
【分类号】：U463.67;U495
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