管道地理坐标测量系统SINS安装误差标定

Calibration of SINS installation error in pipeline geographic coordinate measurement system

针对捷联惯性导航系统（SINS）的安装误差影响管道地理坐标测量精度的问题,提出SINS安装误差标定算法,推导了SINS安装误差动态传递模型,将SINS的俯仰角和航向角安装误差作为状态变量,建立一种新的SINS/里程仪/管道磁标点GPS组合导航模型,利用容积卡尔曼滤波实现俯仰角和航向角安装误差的标定。实验结果表明,该方法安装误差的估计精度为0.2＇-0.6＇。经误差补偿后,1 km长程管道地理坐标高度测量精度为1.59E-3,水平测量精度可达1.07E-3,能够满足长距离管道地理位置测量精度的工程需要,具有一定的实用性。

This paper presents a calibration algorithm of SINS installation error in pipeline geographic coordinate measurement system aiming at the problem of poor navigation precision due to installation error. The SINS installation error dynamic transfer model was deduced,and a new SINS / odometer GPS integrated navigation model was proposed taking the pitch and yaw installation errors as state variables,and a cubature Kalman Filter was designed to implement the calibration of pitch and yaw installation errors. The experiment results show that the estimation accuracy of the installation error is 0. 2＇ - 0. 6＇. After error compensation,the 1km long distance pipeline geographic coordinate measurement precision is improved,the height measurement precision is 1. 59E-3,and the level measurement precision is 1. 07E-3,which meets the engineering requirement of long-distance pipeline geographic coordinate measurement,and the proposed method has certain practicability.