基于运动学约束的履带通信车组合导航研究

Research on Integrated Navigation of Tracked Communication Vehicles Based on Kinematic Constraint

履带通信车由于结构限制,存在滑移、滑转问题,受里程计安装位置及传动比影响,在不同运动状态下,履带通信车里程计输出与实际车辆行驶距离不同,直接采用履带通信车里程计输出作为辅助导航信息会降低捷联惯导组合导航精度。该文在分析履带通信车不同运动状态下等效转向半径及里程计输出与实际履带通信车行驶速度关系的基础上,提出了履带通信车运动状态识别判断方法,根据判断出的运动状态,提出了基于履带通信车运动学约束的里程计修正补偿法,该方法能够对履带通信车的不同运动状态进行识别,并对里程计输出进行实时修正,对履带通信车滑移和滑转产生的横向速度进行补偿。实车试验验证了该组合导航方法的有效性。

Due to the structure limitation, the tracked communication vehicle has the problems of the skids and slips. Influenced by the installation position of the odometer and different transmission ratio, the output of odometer is different from the actual travelling distance of the tracked communication vehicle under different motion states. The accuracy of the SINS integrated navigation may be reduced by directly using the odometer output of the tracked communication vehicle as auxiliary navigation information. Based on the analysis of the equivalent steering radius of the tracked communication vehicle in different motion states and the relationship between the output of the odometer and the actual speed of the tracked communication vehicle, a method for identifying and judging the motion state of tracked communication vehicle is proposed in this paper. According to the judged motion state, an odometer correction compensation method based on kinematic constraints of tracked communication vehicle is proposed. The method can recognize the different motion states of tracked communication vehicle, correct the output of odometer in real time, and compensate the lateral velocity caused by the skids and slips. The actual vehicle test verifies the effectiveness of the integrated navigation method.