摘要
对惯性导航在地下电缆管廊定位过程建立了误差方程,对加速度计噪声引起的误差进行了量化分析。通过建立惯性导航系统的速度、位置误差方程,分析了影响速度误差的因素,进而得到造成位置误差的原因。在此基础上,利用Matlab对误差进行了仿真计算。由计算结果表明,惯性导航的定位误差随着加速度误差的增加而增加,并具有累积效应,随着定位长度的增加而增加。
For the positioning process of inertial navigation in underground cable corridor,this paper establishes the error equation and quantifies the error caused by accelerometer noise.By establishing the velocity and position error equation of inertial navigation system,the factors affecting the velocity error are analyzed,and the causes of the position error are obtained.On this basis,the error is simulated by using MATLAB.The calculation results show that the positioning error of INS increases with the increase of acceleration error and has cumulative effect,and increases with the increase of positioning length.
作者
高宇博
GAO Yubo(State Grid TrainingCenter,SMEPC,Shanghai 200438,China)
出处
《电力与能源》
2019年第5期540-542,共3页
Power & Energy
关键词
管廊路径定位
惯性导航系统
速度误差
位置误差
pipeline corridor path location
inertial navigation system
speed error
position error
