基于MEMS惯性器件的新型车载导航融合算法研究

Research on Innovative Vehicle Navigation Fusion Algorithm Based on MEMS Inertial Devices

针对MEMS惯性器件测量误差大,系统定位误差随时间累积问题,提出了一种动态零速修正与快速正交搜索相结合的融合导航算法,可对线性和非线性误差有效抑制。试验表明,与单独使用动态零速修正相比,该融合算法可以大大提高系统解算精度,在60 s惯性导航中,经补偿后的位置误差不大于0. 95 m,实现了车载惯导系统低成本高精度自主导航。

MEMS inertial devices have large measurement errors,and system positioning errors accumulate over time.To resolve this problem,a fusion navigation algorithm combining dynamic zero-speed correction and fast orthogonal search was proposed,this method effectively suppressed both linear and nonlinear errors.The experimental results show that compared with dynamic zero-speed correction alone,the fusion algorithm can greatly improve the system solution accuracy.In 60 s inertial navigation,the position error after compensation is less than 0.95 m,the low cost and high-precision autonomous navigation of the vehicle inertial navigation system was realized.