【摘要】：針對(duì)慣導(dǎo)系統(tǒng)定位誤差隨時(shí)間積累而增大的缺點(diǎn),提出利用航位推算方法進(jìn)行誤差補(bǔ)償。在航位推算中根據(jù)引起誤差的主要因素推導(dǎo)出位置誤差方程,以此方程為依據(jù),建立相應(yīng)的卡爾曼濾波器。將慣導(dǎo)系統(tǒng)速度與航位推算速度之差作為濾波器的輸入,估計(jì)系統(tǒng)的姿態(tài)、速度、位置及里程計(jì)刻度系數(shù)誤差值,并通過(guò)閉環(huán)反饋進(jìn)行實(shí)時(shí)誤差補(bǔ)償修正。任選2條非閉合路徑進(jìn)行跑車(chē)實(shí)驗(yàn),第一條路徑定位誤差補(bǔ)償修正前是3.49‰,補(bǔ)償修正后定位誤差是2.3‰,第二條路徑補(bǔ)償修正前定位誤差是2.4‰,補(bǔ)償修正后定位誤差是2‰。實(shí)驗(yàn)結(jié)果表明:采用航位推算誤差補(bǔ)償方法可以有效降低系統(tǒng)定位誤差。
[Abstract]:Aiming at the shortcoming that the positioning error of inertial navigation system increases with the accumulation of time, a method of error-compensation based on dead-reckoning is put forward. According to the main factors causing errors, the position error equation is deduced in this paper. Based on this equation, the corresponding Kalman filter is established. The difference between the inertial navigation system velocity and the dead-reckoning velocity is used as the input of the filter to estimate the error value of the system attitude, velocity, position and the calibration coefficient of the odometer, and the real-time error compensation is corrected by closed-loop feedback. The results show that the first path positioning error is 3.49 鈥，

本文編號(hào)：2408339