摘要
针对矿井捷联式惯性导航系统(SINS)误差累计的问题,提出了一种基于射频位置修正技术的矿井组合导航系统。系统将射频标签存储的实际位置和SINS解算位置的差值作为量测量,利用Kalman滤波器估计并补偿SINS存在的陀螺漂移和加速度计零偏。该方法在修正点对误差估计精度高,收敛速度快,能够对SINS累计误差进行一次性修正。
For the error accumulated problems of mine Strapdown Inertial Navigation System（SINS）, a mine integrated navigation system based on Radio Frequency Identification （RFID） position correction technology is presented. The difference of the SINS solver location and the actual location stored in RFID tags is selected as the system observation, at the same time, Kalman filter is used to estimate and compensate the gyro drifts and accelerometer biases existed in SINS. Through new methods, cumu- lative error correction of SINS can be corrected at one-time, moreover, the estimation precision is high and the estimators are rapidly convergence by this method at the correction points.
出处
《计算机工程与应用》
CSCD
2013年第7期248-251,257,共5页
Computer Engineering and Applications
基金
湖南省自然科学基金委员会与湘潭市政府自然科学联合基金(No.10JJ9008)
湖南省教育厅基金(No.10C1266)
湖南省科技计划项目(No.2011FJ3183)
关键词
组合导航
卡尔曼滤波器
捷联式惯性导航系统(SINS)
射频识别
integrated navigation
Kalman filter
Strapdown Inertial Navigation System（SINS）
Radio Frequency Identification（RFID）
