改进量测的车载捷联惯导/里程计组合导航算法

摘要

Because the vehicular SINS/Odometer integrated navigation algorithm with velocity or position measurement has some potential disadvantages,an improved algorithm is put forward.According to the error model of odometer,the scale factors of odometer and installation errors of SINS are treated as status variables,and the difference between SINS position increments and dead-reckoning position increments per 1 s as measurement are defined.The SINS with the 0.02°/h laser gyroscope is used in vehicular test to justify the method,and the test results show that the positioning accuracy can be improved to 0.08％.The off-line analysis further confirms that the algorithm can identify the various sensor error,installation misalignment and initial alignment error,so the high positioning and pointing accuracy can be achieved.%针对车载SINS/Odometer速度量测和位置量测组合导航算法的潜在缺陷,提出了改进量测算法.在分析里程计输出误差模型的基础上,将里程计标度因数误差和惯导系统安装偏差均列入状态变量,并将1 s内惯导位置增量和航位推算位置增量之差作为量测值进行组合导航.车载试验使用精度为0.02°/h的激光陀螺捷联惯导系统,采用该算法后行驶54 km,定位精度可达行驶里程的0.08％.离线分析进一步证实,改进算法可以快速估计出各项传感器误差、安装偏差和初始对准误差,从而保证系统的定位和定向精度.