车载捷联惯性导航系统在线标定方法分析

摘要

To improve the performance of vehicular strap-down inertial navigation system,the accelerometers and gyroscopes need to be online calibrated.First the system state error model and measurement model are given and an 8-state extended kalman filter (EKF)using loosely coupled integration scheme is employed.Finally three calibration schemes are analyzed through the simulation data.The result shows that the sensors bias can be estimated effectively and ac-curacy of integrated navigation system are improved significantly with the augmented yaw angle aiding as well as varying the vehicle maneuver.%为了提高车载捷联惯导系统的定位精度，需要对加速度计和陀螺仪进行实时在线标定。首先推导了惯性导航系统状态方程和组合导航系统量测方程，然后构建了8状态松组合扩展卡尔曼滤波模型，最后利用仿真数据验证分析了3种标定方案。结果表明，增加航向角辅助观测值或改变载体的机动性，可以有效估计惯性传感器误差，明显改善了导航系统的精度。