里程仪精度对惯导平台误差模型辨识精度影响

Study of impact of odometer precision on INS platform error model identification

在利用车载试验进行惯导平台误差模型辨识时,里程仪精度的高低直接影响惯导平台误差模型的辨识精度。给出了惯导平台的误差模型,并建立了关于视速度的测量误差方程。由于受输入加速度大小的限制,使得系统存在严重的复共线性,提出采用选主元最小二乘方法辨识惯导平台误差模型。仿真得到了里程仪的精度对惯导平台误差模型辨识精度的影响结果。

The precision of odometer impacts platform error model identification precision directly when doing the error model identification based on the test of vehicle. INS platform error model is given and the measuring error equation about apparent velocity is established. The system exists serious multi-colinearity because of the size of the input acceleration. The pivoting least squares method is used in the INS platform error model identification. The simulation results provide the impact of odometer precision on INS platform error model identification precision.