里程计辅助的捷联惯导系统研究

SINS / OD Integrated Navigation System

对以里程计与捷联惯导速度之差为量测的捷联惯导/里程计组合导航系统进行了研究。在车辆运动条件下对捷联惯导误差方程进行了简化,并根据简化方程对速度量测方程进行了分析,结果表明捷联惯导/里程计组合导航系统的量测中并未包含载体机动的相关信息,因此载车的机动不能明显加快天向平台误差角的收敛速度,但是随时间增长可通过罗经效应对其进行估计。最后通过计算机仿真验证了上述结论的正确性。

The SINS/OD integrated navigation system, whose measurement is formed by the odometer output and SINS velocity, is investi- gated. The error model of the SINS, which is working in the land vehicle-borne scenario, is simplified. Based on the simplified equation, the speed measurement equation is analyzed; the results show that the measurement of SINS/odometer integrated navigation system does not contain information related to the carrier mobility. So the azimuth error converge speed can＇ t be accelerated by maneuvers. But With the passage of time, the azimuth error can be estimated through gyro compassing effect. At last, the analysis result is demonstrated by comput- er simulation.