里程计辅助陆用惯导行进间对准方法

INS in-motion alignment for land-vehicle aided by odometer

行进间对准技术能够使惯导在运动状态下完成系统初始化,它对于提高载体机动能力具有重要作用。与静基座对准不同,行进间对准通常需要利用外部设备(在陆用导航领域,通常使用GPS或里程计)提供载体运动信息对惯性导航系统输出进行补偿和修正。由于里程计辅助的行进间对准具有全自主的特点,因而被广泛采用。本文通过对里程计误差进行合理建模,并采用位移增量匹配方法实现了里程计和惯导系统的组合。同时,针对复杂路面环境下由于车体侧滑、空转等造成里程计测量失准等故障现象进行有效诊断,以此提高了组合导航系统的可靠性。通过行进间对准试验,结果表明由里程计辅助的惯导系统经过10 min初始对准,航向误差小于0.05°,精度和静基座相当。

In-motion alignment plays an important role in improving the maneuvering capability of the carrier, which allows the initialization of an inertial navigation system （INS） while on moving. Different from stationary alignment, the implementation of in-motion alignment usually needs an external navigation device such as GPS or odometer to provide vehicle dynamic information to compensate and correct the INS errors. In the field of land navigation, odometer aided in-motion alignment is widely adopted due to its full self-contained characteristic. In this contribution, odometer error is modeled comprehensively as a part of system dynamic model, and the displacement incremental matching method is proposed to finally realize the integration of odometer and INS. Besides, effective fault diagnosis is proposed to evade odometer measurement errors caused by the complicated environment. The effectiveness of the proposed method is verified through ground based alignment experiments. The results show that the heading error is less than 0.05° after ten minutes initial alignment which is equivalent to that of the stationary alignment.