车载导航系统陀螺的自适应校正方法

Adaptive Calibration of Gyro in Vehicle's On-board Navigation System

分析了低成本压电振动陀螺误差及其影响因素,在实验的基础上得出采用温度补偿陀螺误差的可行性。建立了联合卡尔曼滤波方程融合GPS和INS信息,估计定位信息和陀螺误差。提出车载GPS/INS组合导航系统中陀螺零漂误差和标度因子误差的校正过程启动条件,当条件满足时,以估计的陀螺误差为输入,采用温度误差校正表学习算法对陀螺误差模型进行训练。用道路实验数据对提出的陀螺校正算法进行验证,结果表明该算法精度高、收敛快、可操作性好。

The error of low cost piezoelectric vibratory gyro and its affecting factors are analyzed. Experiments ascertain the feasibility of temperature compensation for gyro error. A federal Kalman filter is used to estimate position information and gyro errors by fusing GPS and INS signals. The conditions for starting the process of correcting the errors of zero drift and calibration factors of gyro in combined GPS/INS on-board navigation system are proposed. When conditions are met, the training on gyro error model is performed with the input of estimated gyro error, using learning algorithm with a temperature compensation table. The calibration algorithm is verified by road test data. The results show that the algorithm has the merits of high accuracy, fast convergence and good operability.