零速校正在惯性导航系统中的仿真研究

The simulation research on zero-velocity update in inertial navigation system

零速校正利用载体停车时惯导系统的速度输出作为惯导系统速度误差的观测量,进而对惯导系统其他各项误差实现校正.基于这一原理对零速校正在惯性导航系统中的应用进行了分析研究.首先推导了惯性导航系统的误差方程,然后采用曲线拟合的方法,用M atlab仿真得到零速校正后的位置误差曲线.通过对仿真结果的分析比较,表明该方法在惯性的导航系统对于误差修正的有效性.

Zero-velocity uses the output speed as the observed value of velocity error of the inertial navigation system when the carrier is parking, and then the error of other items in the inertial navigation system can be updated. On the basis of this principle, the application of zero-velocity update in inertial navigation system was analyzed and researched. First of all, inertial navigation system＇ s error equation was deduced, and then by the method of curve fitting, the position error curve was drawn by Matlab simulation after the zero-velocity update. By the comparison and analysis of the simulation result, the zero-velocity update method is proved to be useful for error correction in inertial navigation system.