INERTIAL NAVIGATION ERROR CORRECTION METHOD BASED ON VEHICLE ZERO SPEED DETECTION

摘要

An inertial navigation error correction method based on vehicle zero speed detection. When a vehicle runs, wheel speed sensing data and INS data are acquired, and in the process of vehicle running, zero speed detection is performed with a zero speed detection algorithm by using wheel speed, an accelerometer, and a gyroscope. The principle of zero speed detection is that joint probability based on a Neyman-Pearson criterion is performed in respect of wheel speed, accelerometer, and gyroscope signals, and the principle of zero speed correction is: 1, when the vehicle detects zero speed, performing zero setting processing on speed and angular speed to prevent accumulation of speed errors and angular speed errors from causing position and attitude deviation; 2, after the zero speed is detected, respectively re-estimating attitude and gyroscope zero deviation by means of the outputs of the accelerometer and an angular speed meter; and 3, after the vehicle moves again and exits a zero speed state, correcting the INS by using the re-estimated attitude and gyroscope zero deviation. Compared with the prior art, the method has the advantages of suppressing navigation error drift, improving detection accuracy, and the like.