基于递推最小二乘法的捷联惯导与里程计组合导航系统标定

摘要

Calibrations of odometer’s scale factor and the installation error between SINS and odometer are crucial factor which impact the accuracy of Strapdown Inertial Navigation System/Odometer(SINS/OD)integrated navigation system. As to this issue, a calibration method based on recursive least square(RLS)is presented. The results of calibration experiments show that accurate estimates can be gained in approximately 50 s, and calibration results of 20 min outgoes the calibration results of 5 min, and the real scale factor of odometer is variational during the journey. In addition, compared with the estimation of curving route, the estimation of the installation error between SINS and odometer in flat route is more accurate. At last, field tests are carried out, the GPS data is regarded as reference, the vehicle runs 40 km in 50 min, and the position error of dead reckoning is less than 50 m which proves the exactness of the calibration, and indicates that the calibration method is valuable in engineering application.%里程计刻度系数和惯导的安装误差的标定是影响捷联惯导与里程计组合导航精度的重要因素，针对这一问题，提出基于递推最小二乘的标定方法。标定实验表明：在50 s左右即可得到较准确的估计值，20 min标定的里程计刻度系数结果优于5 min 标定的结果，且在跑车过程中真实里程计刻度系数是有变化的；相对于弯曲路线，平直路线中安装误差角的估计更准确。最后通过跑车试验，以GPS实测数据为参考，50 min跑车约40 km，航位推算位置误差在50 m以内，验证了标定结果的准确性，说明所用标定方法有很强的工程应用价值。