一种面向即插即用车载GNSS/INS/ODO系统的时空在线标定方法

A Space-Time Online Calibration Method for Plug-and-Play Vehicle GNSS/INS/ODO System

车载轮速里程计(ODO)辅助卫星/惯性(GNSS/INS)组合导航时需要先进行惯性传感器(IMU)与ODO的空间对齐,而传统GNSS辅助IMU/ODO参数在线标定时未考虑GNSS时延与ODO时延对标定的影响,这对于无法实现硬件时间同步而需要即插即用的车载导航应用而言,考虑不够全面。因此,提出了一种面向即插即用车载GNSS/INS/ODO系统的时空在线标定方法。该方法在传统GNSS辅助IMU/ODO参数估计模型的基础上,增广了GNSS与ODO的时延误差,分析了两种时延对IMU/ODO参数在线标定的影响,推导并构建了完整的GNSS与ODO观测模型,采用卡尔曼滤波器对GNSS时延、ODO时延以及IMU与ODO之间的参数进行估计。实际测试结果表明,该方法可以有效提高IMU/ODO在线标定的精度。

Odometer(ODO)assisted GNSS/INS integrated navigation systems of vehicles require calibration of the IMU-vehicle attitude/position misalignment,while traditional online calibration of the GNSS assisted IMU/ODO does not consider the negative effect of GNSS delay and ODO delay,which is not comprehensively enough for plug-and-play vehicle navigation applications that cannot achieve hardware time synchronization.Therefore,a space-time online calibration method for plug-and-play vehicle GNSS/INS/ODO system is proposed.This method augments the GNSS delay error and ODO delay error on the basis of the traditional GNSS-aided IMU/ODO parameter estimation model,analyzes the influences of the two delays on the online calibration of IMU/ODO parameters,and derives a complete GNSS and ODO observation model.The Kalman filter is used to estimate the GNSS delay,the ODO delay and the parameters between IMU and ODO.The field test results show that the proposed method can effectively improve the accuracy of IMU/ODO online calibration.