一种无振荡误差的车载惯导系统测姿方法

Attitude Determination Method for Vehicle INS without Oscillation Error

车载GPS/INS组合导航系统中的卫星信号易受环境影响出现失锁,而惯导独立工作时处于无阻尼状态,其特有的机械编排导致解算的姿态信息中存在舒勒振荡和傅科振荡误差,因此无法满足测量系统对姿态信息的高精度需求。为此,提出一种基于罗经方案的无振荡误差的车载惯导姿态确定方法,通过将加速度计测量的载体运动加速度进行低通滤波处理,引入惯性坐标系并间接地建立载体与导航坐标系之间的姿态转换矩阵,改变惯导无阻尼解算模式并实现系统无振荡性误差的姿态信息的求解。试验结果表明,论文提出的无振荡误差测姿方法具有为车载平台提供准确姿态信息的可行性与可靠性。

The GPS signal of integrated navigation system of moving measurement vehicle is easily disturbed by the work environment. The vibration errors of attitude was introduced when the integrated navigation system working on the inertial mode based on special undamped machinery. Therefore,it could not satisfy the requirement of accuracy attitude determination. Then,a novel attitude determination without oscillation error was proposed in this paper. The inertial frame was introduced firstly. Secondly,the acceleration in the inertial frame,proposed by accelerometer and filtered out by low-pass filter,was used to establish the transfer matrix from body frame to navigation frame. Then, the attitude could be calculated by the change of undamped calculation model. Experiment results showed that,the proposed advance strapdown gyrocompass could be used to calculate the vehicle platform attitude effectively.