航位推算組合導(dǎo)航系統(tǒng)在線標(biāo)定技術(shù)
發(fā)布時間：2018-08-04 19:59
【摘要】：在航位推算組合導(dǎo)航系統(tǒng)中,存在里程計安裝偏差角誤差和標(biāo)度因數(shù)誤差。推導(dǎo)了里程計安裝偏差角誤差和標(biāo)度因數(shù)誤差對航位推算速度和位置精度的影響,并提出了一種航位推算組合導(dǎo)航系統(tǒng)在線標(biāo)定算法。該算法利用航位推算的速度與GPS的速度之差作為速度量測,航位推算的位置與GPS的位置之差作為位置量測,對航位推算組合導(dǎo)航系統(tǒng)的姿態(tài)誤差、安裝偏差角誤差和標(biāo)度因數(shù)誤差進(jìn)行有效估計,并通過仿真試驗(yàn)和車載試驗(yàn)對該算法的有效性進(jìn)行了驗(yàn)證。試驗(yàn)結(jié)果表明,通過車載試驗(yàn)在線標(biāo)定出的里程計各誤差參數(shù)與里程計傳統(tǒng)標(biāo)定法標(biāo)定的結(jié)果接近,且該算法計算量小,具有一定的工程應(yīng)用價值。
[Abstract]:In the position estimation combined navigation system, there is a deviation angle error and the scale factor error of the erodometer installation. The influence of the deviation angle error and the scale factor error on the position estimation speed and position accuracy is deduced, and an online calibration algorithm for the position estimation combined navigation system is proposed. The difference between the velocity and the velocity of GPS is measured as the velocity measurement, the position of the estimated position and the position of the GPS are measured as the position measurement, and the error of the attitude error, the error of the installation deviation angle and the scale factor are effectively estimated, and the validity of the algorithm is verified by the simulation test and the vehicle test. The results show that the error parameters of the mileage meter calibrated by the on-board test are close to the result calibrated by the traditional mileage calibration method, and the calculation amount of the algorithm is small, and it has certain engineering application value.
【作者單位】： 西北工業(yè)大學(xué)航海學(xué)院;航天第十六研究所;
【基金】：船舶預(yù)研基金(12J4.2.4)
【分類號】：U463.67;U495
[Abstract]:In the position estimation combined navigation system, there is a deviation angle error and the scale factor error of the erodometer installation. The influence of the deviation angle error and the scale factor error on the position estimation speed and position accuracy is deduced, and an online calibration algorithm for the position estimation combined navigation system is proposed. The difference between the velocity and the velocity of GPS is measured as the velocity measurement, the position of the estimated position and the position of the GPS are measured as the position measurement, and the error of the attitude error, the error of the installation deviation angle and the scale factor are effectively estimated, and the validity of the algorithm is verified by the simulation test and the vehicle test. The results show that the error parameters of the mileage meter calibrated by the on-board test are close to the result calibrated by the traditional mileage calibration method, and the calculation amount of the algorithm is small, and it has certain engineering application value.
【作者單位】： 西北工業(yè)大學(xué)航海學(xué)院;航天第十六研究所;
【基金】：船舶預(yù)研基金(12J4.2.4)
【分類號】：U463.67;U495
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