研究了一种基于捷联惯导系统和里程计进行车载高精度定位定向的方法；采用里程计与捷联惯导中的陀螺仪构成航位推算系统,建立了航位推算系统的误差模型;为了增强航位推算姿态误差的估计效果,将载车姿态与位置信息一起作为量测,构建组合定位定向的量测方程;采用Sage-Husa自适应滤波设计捷联惯导/里程计组合定位定向算法,以增强算法对外界环境和载车机动的鲁棒性；仿真结果表明,基于捷联惯导/里程计的车载定位定向方法能够达到±20.4m (3σ)的定位精度,航向精度达到±3.1′(3σ),水平姿态精度达到±0.6′(3σ).%A method of precise position and orientation determination for vehicle based on strapdown inertial navigation system (SINS) and odometer was researched in this paper. The odometer and gyroscopes in SINS were adopted to construct the dead reckoning system, and error models of the dead reckoning system were built. In order to enhance the estimate effect of attitude errors in dead reckoning,the attitude and position of the vehicle were chozen as the observations, and thus the observation equation of integrated position and orientation determination were built. Sage-Husa self-adaptive filtering was adopted in the design of SINS/odometer integrated position and orientation determination algorithm, which can enhance the robustness to outside environment and maneuver of the vehicle. Simulation results showed that, position accuracy of this position and orientation determination method for vehicle based on SINS/odometer reached ±20. 4m (3a), heading accuracy reached ±3. L' (3a)> and horizontal attitude accuracy reached ±0. 6' (3a).
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