车载组合导航定位系统误差建模及仿真

The error modeling and simulation analysis of in-vehicle navigation system

首先,建立测速仪与惯性测量单元的组合导航状态方程、量测方程和车载组合导航定位系统的卡尔曼滤波误差模型;其次,根据车载导航数据,进行了卡尔曼滤波仿真分析,评估了测速仪、惯性测量单元组合精度对导航定位精度的影响,结果表明了该方法的有效性。

Firstly,the state equations and the measurement equations of the velocimeter and inertial measurement unit （IMU）, the Kalman filtering error model of the in-vehicle navigation system are modeled. Secondly, the Kalman filtering simulation analysis is carried out based on the data of the in-vehicle navigation system. The relation between navigation and positioning accuracy with the union of velocimeter and IMU is evaluated. The experiment results demonstrate that the modeling method is corrective.