不同组合模型下的SINS/OD组合导航精度分析

Accuracy Analysis of SINS/OD Integrated Navigation under Different Combination Models

在捷联惯导与里程计的组合导航中,针对基于不同观测量及滤波算法构建的组合模式在计算量和精度等方面存在性能差异较大等问题,分别对基于速度观测模型、基于位置观测模型所构成的组合模型进行理论推导、滤波算法设计与性能比较分析。在跑车实验中,比较了四种组合模型在精度等方面的优劣性,结果表明利用速度组合模式下的开环校正模型对姿态误差、速度误差的校正效果最优,位置估计与姿态、速度的估计结果相同,研究结果可为惯导与里程计进行组合导航的基础模型的选择提高参考。

In the integrated navigation of strapdown inertial navigation and odometry,there are problems such as large differ ences in calculation amount and accuracy in the combination model constructed based on different observational measurements and filtering algorithms,and they are based on the velocity observation model and the position-based observation respectively.The mod el composed by the model is a theoretical derivation,filtering algorithm design and performance comparison analysis.In the sports car experiment,the advantages and disadvantages of the four combined models in terms of accuracy,etc.are compared.The results show that the open-loop correction model in the speed combination mode has the best correction effect for attitude errors and speed errors.The estimation result of position estimation is the same as that of attitude and speed.The results of the study can be used as a reference for the selection of the basic model for integrated navigation of inertial navigation and odometry.