捷联惯导系统/里程计高精度紧组合导航算法

doi:10.3969/j.issn.1000-1093.2012.04.003

兵工学报 ›› 2012, Vol. 33 ›› Issue (4): 395-400.doi: 10.3969/j.issn.1000-1093.2012.04.003

捷联惯导系统/里程计高精度紧组合导航算法

肖烜¹，王清哲¹，程远²，付梦印¹，刘彤¹

（1.北京理工大学自动化学院，北京 100081； 2.中国兵器科学研究院，北京 100089）

收稿日期:2011-11-10 修回日期:2011-11-10 上线日期:2014-03-04
作者简介:肖烜（1976—），男，讲师
基金资助:
“973”专项（2009CB72400208），国家自然科学基金项目（61104192）

High Accuracy Navigation Algorithm for Tightly Coupled INS/Odometer

XIAO Xuan¹, WANG Qing-zhe¹, CHENG Yuan²，FU Meng-yin¹, LIU Tong¹

(1.School of Automation, Beijing Institute of Technology, Beijing 100081, China;2.China Research and Development Academy of Machinery Equipment, Beijing 100089, China)

Received:2011-11-10 Revised:2011-11-10 Online:2014-03-04

摘要/Abstract

摘要： 针对惯导系统/里程计构成的组合导航系统，通过对陀螺仪和加速度计零偏、里程计刻度因子、惯性导航系统和里程计之间的姿态误差进行实时估计，实现了惯性导航系统和里程计信息的相互校正，有效提高了系统测量精度；同时，针对复杂应用环境下里程计测量信息不准而导致的组合导航系统精度下降的问题，利用卡尔曼滤波信息实现故障检测和隔离，从而有效提高了系统导航精度。

关键词: 自动控制技术, 惯性导航系统, 参数估计, 故障诊断

Abstract: According to the integrated navigation system which consists of inertial navigation system (INS) and odometer, the cross calibration of INS and odometer were achieved by estimating the biases of inertial sensors, scale factor of odometer, and attitude error between INS and odometer in real-time. The above tasks were resolved by a closed-loop Kalman filter, which can easily use the estimates to compensate INS and odometer. An integrated supervisory system was constructed to detect and isolate the bad data when a vehicle run in a complex environment. It helps to improve the accuracy of navigation system.

Key words: automatic control technology, inertial navigation system, parameter estimation, fault diagnosis

中图分类号:

U666.12

肖烜，王清哲，程远，付梦印，刘彤. 捷联惯导系统/里程计高精度紧组合导航算法[J]. 兵工学报, 2012, 33(4): 395-400.

XIAO Xuan, WANG Qing-zhe, CHENG Yuan，FU Meng-yin, LIU Tong. High Accuracy Navigation Algorithm for Tightly Coupled INS/Odometer[J]. Acta Armamentarii, 2012, 33(4): 395-400.

参考文献

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捷联惯导系统/里程计高精度紧组合导航算法

High Accuracy Navigation Algorithm for Tightly Coupled INS/Odometer

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