车载航位推算系统误差补偿技术研究

On Error Compensation Technology for Vehicular Dead Reckoning(DR) System

车载航位推算系统算法简单并且容易实现误差补偿。当惯组(IMU)安装到载车上存在安装误差时,推导了航位推算(DR)算法和航位推算误差,并对航位推算误差进行了详细分析,得出航位推算轨迹和真实轨迹相似的原理。基于相似性原理阐述了利用设定路标和零速修正(ZUPT)等方法对各种误差进行补偿的算法。跑车试验验证了航位推算算法和误差补偿的正确性和有效性。

To our best knowledge, there is no paper in the open literature giving detailed technical information on error compensation technology for vehicular DR system. We present in this paper the results of our effort to develop such information. In the full paper, we describe the detailed technical information in much detail~ here we give only a briefing. Taking into account that IMU （Inertial Measurement Unit） cannot be installed on vehicle precisely, we deduce DR algorithms. We propose a similarity theory that takes due notice that the DR trajectory and the true trajectory are similar with azimuth error regarded as a constant and that the vehicle runs on a plane. On the basis of the similarity theory we conclude that position errors are zero when the vehicle runs in a ring route and back to the starting point. We propose system error calibration algorithms, which can compensate for source errors, including IMU installation errors, odometer scale factor error, azimuth error of initial alignment and gyro constant drift error. Finally, we give a ring route field-test for the vehicular DR algorithms. Latitude and longitude errors are always kept below 20 m after the first land mark calibration at about 500 s.