摘要
在接近实际工况时,对研制出的霍尔里程计输出特性进行测试,检测霍尔里程计的各项功能、性能及环境适应性等特征,确保里程计在各种工况下的性能稳定、持久、可靠、适应、兼容性等各项功能正常。结果显示霍尔里程计实测值满足了设计的技术指标,最终满足INS/霍尔里程计组合导航系统精准定位的要求;选取闭合路线进行行车测试,在未加载与加载霍尔里程计两种情况下,分别测试其组合导航系统的导航能力,结果发现未加载霍尔里程计时,导航轨迹发生的漂移较大;而加载霍尔里程计时,导航能力大大提高,行驶轨迹相比未加载里程计时的漂移量要小的多,基本符合实际的行车路线。从而验证出在无GPS状态下加载霍尔里程计使得INS/霍尔里程计组合导航系统精准度得以提升,提高了整个系统的定位精度和导引可靠性。
In close to the actual working conditions,the output characteristics of the developed Hall odometer are tested to detect the various functions,performance and environmental adaptability of the Hall odometer,so as to ensure the stability,durability,reliability,adaptability,compatibility and other functions of the odometer under various working conditions are normal.The results show that the measured values of Hall odometer meet the designed technical indexes,and finally meet the requirements of INS/Hall odometer integrated navigation system for accurate positioning.A closed route was selected for driving test,in both unloaded and loaded Hall odometer cases,the navigation ability of the integrated navigation systems were tested respectively.The results showed that the drift of navigation trajectory was larger when the Hall mileage timing was not loaded.However,with the loading of Hall mileage timing,the navigation ability is greatly improved.Compared with the unloaded mileage timing,the drifting amount of the driving track is much smaller,which basically conforms to the actual driving route.Thus,it is verified that loading Hall odometer without GPS improves the accuracy of INS/Hall odometer integrated navigation system,and improves the positioning accuracy and guidance reliability of the whole system.
作者
程香平
邱伊健
刘琦
张友亮
CHENG Xiangping;QIU Yijian;LIU Qi;ZHANG Youliang(Institute of Applied Physics,Jiangxi Academy of Sciences,330096,Nanchang,PRC)
出处
《江西科学》
2021年第5期919-923,932,共6页
Jiangxi Science
基金
国家地区自然科学基金项目(51865019)
江西省自然科学基金重大项目(20201BBE51015)。
关键词
霍尔里程计
特性测试
组合导航
惯性导航
Hall odometer
characteristic test
integrated navigation
inertial navigation
