载车SINS/OD杆臂在线补偿算法

Vehicle SINS / OD Lever-Arm Online Compensation Algorithm

在捷联惯性导航系统与里程计构成的车载组合导航系统中,考虑到工程实际,往往将里程计安装在载车前轮,而将惯性测量单元安装在车辆的其他任何位置,比如车的尾部。为消除由于里程计和惯性导航系统安装位置不同造成车载速度测量信息不同的影响,需要将车载杆臂引起的速度测量误差精确补偿。提出首先将载车杆臂列入组合导航系统状态,利用实际跑车机动对其进行精确估计,进而利用估计结果对里程计速度量测进行修正,从而提高整个组合导航系统的精度。跑车试验证明了该方案的有效性。

In the integrated navigation system constructed by strap-down inertial navigation system （SINS）and odometer（OD）, considering engineering fact, odometer usually is installed at the front wheel, on the other hand, inertial measurement unit（IMU）is installed on any other place of the vehicle,such as tail part. For eliminating the difference of measurement information between odometer and inertial navigation system, the velocity error caused by lever-arm effect should be compensated accurately. Firstly lever-arm parameter are put into integrated navigation filtering state to be estimated using practical motion, then modify the odometer＇s velocity measurement using estimation result of lever-arm to improve the precision of integrated navigation system. The effectiveness of the scheme is validated by vehicular tests.