车载简易惯性测量装置的误差建模与仿真

Error Modeling and Simulation of Simplified Inertial Measurement Unit for Trains

提出了一种用于列车定位的车载简易惯性测量装置(IMU),给出了其系统安装结构与导航定位解算方法,并分析了该系统的误差源,进而在此基础上推导获得了其系统误差模型。计算机仿真结果表明,所建立的IMU系统误差模型能够准确地描述出测量器件误差对整个系统测量结果的影响,从而为车载简易IMU的工程应用垫定了理论基础。

A simplified Inertial Measurement Unit （IMU） for train positioning was analyzed. The system structure and positioning algorithm were provided firstly. Then error sources of the system were analyzed. On the basis of error sources, the error models of the system were deduced. Simulation results show that, the error models of the system can accurately describe the influence of instruments errors on measurement results of the whole system, which provides the theoretical basis of the simplified Inertial Measurement Unit for engineering application.