捷联惯导/航位推算组合导航算法研究

摘要

The errors of Dead Reckoning (DR) are related with the odometer scale factor and the initial alignment error,as well as the misalignment error caused by the SIMU defective installation.SINS/DR integrated navigation system can estimate such errors effectively.In the paper,system equations of SINS/DR Integrated Navigation System are derived when the vehicle is equipped with an SIMU.Simulation analysis shows that integrated navigation system can effectively estimate the installation error,the horizontal gyro random bias and accelerometer random biases.%当捷联惯组(SIMU)安装到载车上存在安装误差时,航位推算误差与安装误差、里程计刻度系数误差、初始对准误差有关.利用捷联惯导系统和航位推算系统构成组合导航系统可实现对上述误差的估计.为此,推导了惯组和载车间存在安装误差时的惯导/航位推算组合导航系统的系统方程.仿真分析表明,组合导航系统可有效估计出安装误差、水平陀螺随机常值漂移和加速度计随机常值偏王.