摘要
惯导系统误差随着导航时间而增长,而里程仪测量误差一般随着运载体行驶距离而增加,惯导系统和里程仪具有互补性,推导了简化的惯导/里程仪组合导航系统的卡尔曼滤波方程,研究了里程仪刻度系数误差校正的方法,并提出了里程仪打滑和滑行故障的判断准则,仿真结果表明:经过里程仪刻度系数校正后,组合导航系统能有效提高定位精度,并且具备一定的容错能力。
Errors in the Inertial Navigation System （INS） accumulate over time, whereas odometer （on） measurement errors increase relative to distance. The mutual compensation of INS and OD combines them into an integrated navigation system with high performance. The Kalman filter dynamic model for a simplified INS/On integrated navigation system is deduced. The OD scale factor error rectification algorithm is investigated, and the fault detection criteria for OD skidding and sliding error are presented. Simulation results show that after OD scale factor error rectification the integrated system position accuracy is improved effectively, and the system is capable of fault tolerance to some extent.
出处
《计算机测量与控制》
CSCD
2006年第8期1087-1089,共3页
Computer Measurement &Control
关键词
惯性导航
里程仪
组合导航
刻度系数修正
故障检测
仿真
inertial navigation
odometer
integrated navigatlon
scale factor error rectification, fault detection
simulation
