移动装备捷联惯性导航系统误差补偿技术研究

Error Compensation Technology of Strapdown Inertial Navigation System for Mobile Equipment

以农用机械或者采矿装备等移动装备为研究对象,采用捷联惯导对移动装备位姿进行检测,基于运动载体振动建立了捷联惯导误差补偿模型。首先,对运动载体的角振动和线振动进行等效处理,推导了基于三子样和四子样的捷联惯导圆锥误差以及划船误差补偿模型;其次,搭建捷联惯导定位平台并在农用机械上进行实验研究;实验结果表明三子样和四子样补偿算法能够提高未补偿算法下的捷联惯导定位精度,且四子样补偿算法下的圆锥误差和划船误差较三子样补偿算法分别提高了29.8%和28.3%。

The positioning error for strapdown inertial navigation system of mobile equipment will be increased when it works in the environment with strong vibration. Taking agricultural machinery, mining equipment and other mobile equipments as the research objects, the position and orientation of mobile equipment were measured with strapdown inertial navigation system （SINS） and the SINS error compensation model was built based on the vibration form of mobile equipment. Firstly, the magnitude- frequency characteristics and vibration properties were analyzed based on the acceleration and angular velocity which were measured by SINS. The angular vibration and linear vibration of mobile equipment were equivalently processed and the coning/sculling error compensation models for SINS with three samples and four samples algorithms were derived according to the SINS solution theory. Secondly, the experimental platform of SINS was built with agricultural machinery which was used for planning and fertilizing the fields. The SINS was fixedly installed on the agricultural machinery. The SINS data was sent to the positioning computer through two wireless transmission modules. The power was supplied for the SINS and one wireless transmission module through an external mobile power module. Finally, experimental results indicated that positioning accuracy of SINS can be increased with three samples and four samples compensation algorithms, and its accuracy was superior to that with non-compensation model. The coning error and sculling error of SINS with four samples algorithm were increased by 29.8% and 28.3% compared with those of three samples algorithm, respectively.