一种基于路况的渐消记忆陀螺误差补偿方法

摘要

Aiming at different characteristics of the rate gyro error of GPS/DR navigation system in straight and turning situation,a fading memory gyro error compensation method based on road conditions is proposed. When GPS signal is normal,the gyro scale factor error is calculated in real-time depending on the road situation; the obtained scale factor error calculated in the normal case is used to compensate rate gyro error when the GPS is lost. After the gyro error of GPS/DR system is compensated, the extended Kalman filtering ( EKF) method is put forward for fault-tolerant filtering. Good navigation precision can still be kept after GPS is lost in a period of time.%针对GPS/DR组合导航系统在汽车直行和转弯时速率陀螺误差特性不同的情况,提出了一种基于路况的渐消记忆陀螺误差补偿方法.这种方法在GPS信号正常时根据路况不同实时计算陀螺刻度因子误差;当GPS丢星时,用GPS正常时计算的刻度因子误差补偿速率陀螺.在实际工程应用中,用此方法补偿低成本GPS/DR组合导航系统的陀螺误差后再进行EKF容错滤波,在GPS丢星后一段时间内,仍能保持较好的导航精度.