光纤陀螺惯导系统航位推算误差补偿方法研究
发布时间：2019-01-13 09:59
【摘要】：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。
[Abstract]:Aiming at the shortcoming that the positioning error of inertial navigation system increases with the accumulation of time, a method of error-compensation based on dead-reckoning is put forward. According to the main factors causing errors, the position error equation is deduced in this paper. Based on this equation, the corresponding Kalman filter is established. The difference between the inertial navigation system velocity and the dead-reckoning velocity is used as the input of the filter to estimate the error value of the system attitude, velocity, position and the calibration coefficient of the odometer, and the real-time error compensation is corrected by closed-loop feedback. The results show that the first path positioning error is 3.49 鈥，
本文编号：2408339
[Abstract]:Aiming at the shortcoming that the positioning error of inertial navigation system increases with the accumulation of time, a method of error-compensation based on dead-reckoning is put forward. According to the main factors causing errors, the position error equation is deduced in this paper. Based on this equation, the corresponding Kalman filter is established. The difference between the inertial navigation system velocity and the dead-reckoning velocity is used as the input of the filter to estimate the error value of the system attitude, velocity, position and the calibration coefficient of the odometer, and the real-time error compensation is corrected by closed-loop feedback. The results show that the first path positioning error is 3.49 鈥，
本文编号：2408339
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