摘要
为解决山区、城市等复杂路况环境下卫星导航信号衰弱、断续甚至无卫导信号所导致的组合滤波器估计精度较差的问题,采用了零速修正与动态零速修正相结合的运动学约束辅助的车载组合导航算法,给出了一种简单的适用于工程实际的零速检测方法,并且在考虑了惯导系统存在杆臂效应以及安装偏差角的基础上,给出了滤波算法模型;通过实际跑车试验,结果表明:卫导信号丢失时间小于10 min,该方法可为车载组合导航滤波器提供有效的运动约束辅助信息,组合导航水平定位精度优于2. 7 m(RMS),垂直位置精度优于1. 8 m(RMS),水平测速精度优于0. 05m/s(RMS),垂直测速精度优于0. 02 m/s(RMS),远高于无运动约束辅助下的组合导航精度。同时,零速检测方法可为车辆的停止状态进行检测。
The computation of local code and control value of carrier numerical control oscillator(NCO) needs the modified position or velocity information of inertial navigation system(INS) in INS/GPS deep integration navigation system, in which the Doppler computation needs both the position and velocity information. Usually, the update rate of base band I/Q information is 1 000 Hz, while the Doppler frequency shift computed by modified INS information is 100 Hz. The interpolation by cascaded-integration-comb(CIC) filter can effectively solve the match of the update rate and the frequency shift. Besides that, the error of INS information would cumulate between the modified periods, especially for low accuracy INS system, so the extrapolated state information of the filter was used to modify the INS information. By Hardware-in-the-loop simulation, the results of on-line Doppler interpolation were compared with extrapolation, and CIC filter was compared with that of B-Spline interpolation. The results show that the error is less than 1 Hz, and the spectrum of the error lied in 0~0.02 Hz, which shows the validation of the proposed method.
作者
王立兵
周俊
刘鹏飞
智奇楠
贾瑞才
WANG Libing;ZHOU Jun;LIU Pengfei;ZHI Qi’nan;JIA Ruicai(The 54 th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang 050081,China;State Key Laboratory of Satellite Navigation System and Equipment Technology,Shijiazhuang 050081,China;The No. 63961 st Troop of PLA,Beijing 100012,China;Research Institute of Army Aviation,Army Aviation School,Beijing 101121,China)
出处
《兵器装备工程学报》
CAS
北大核心
2019年第2期120-124,共5页
Journal of Ordnance Equipment Engineering
基金
国家高技术研究发展计划(863计划)项目(2015AA124001)
国家重点研发计划资助项目(2016YFB0502100)
国防科技预研基金资助项目(41418040102
31512020205-2)
关键词
车载组合导航
零速修正
动态零速修正
零速检测
integrated vehicle navigation
zero velocity correction
dynamic zero velocity correction
zero speed detection
