惯性定位系统阻尼零速修正方法

摘要

In inertial positioning system, Zero velocity update (ZUPT) is an essential and important error control method. Combining the engineering practical application, introducing damping technique, a ZUPT method is proposed. On the basis of analyzing system error model, this method designs rational damping loop and uses velocity information of the system itself during ZUPT to damp periodic and oscillational errors. Therefore, it can improve the accuracy of the system. The theoretical analysis and experiment results show the damping zupt method not only can effectively inhibit the accumulating errors of the system, but also is simple and convenient, so is more suitable for practical application.%在惯性定位系统中,零速修正是系统进行误差控制的一项有效重要手段.结合工程实际应用,利用阻尼技术,推导并提出了一种零速修正方法.该方法在分析系统零速修正误差模型基础之上,设计合理的阻尼回路,将周期性停车时系统自身的速度信息作为阻尼信息,阻尼系统周期性振荡误差,从而提高系统的定位精度.理论分析和实验结果表明,阻尼零速修正方法不仅能有效地抑制系统误差的积累,而且实现简单方便,计算量小,更适合工程应用.