一种车辆航位推算改进方法

Improved method for vehicular dead reckoning

针对车辆导航的特点,给出了一种基于单陀螺单加速度计的简化航位推算方案,同时研究了差速里程仪导航方案存在的问题,提出了基于单陀螺单里程仪的航位推算方案。该方案可以充分发挥陀螺短时精度高,里程仪测量误差随着时间增长变化较小(特别是在车辆低速行驶时)的优点,并对这几种航位推算方案进行了仿真研究。仿真结果表明:单陀螺单里程仪航位推算方案的航向精度和位置精度都是较高的。

According to the characteristics of vehicle navigation, the dead reckoning scheme based on single gyro and single accelerometer was given. The problem in the scheme based on differential odometer was studied, and the dead reckoning scheme based on single gyro and single odometer was proposed, which could make full use of the advantages of gyro＇s short-time high-precision and the odometer error＇s slow growth with time （especially when vehicle drove slowly）. Simulation on the three dead reckoning schemes showed that the scheme based on single gyro and single odometer had better precision in both heading and position than the other two schemes.