基于运动学非完整约束的里程计参数在线辨识
|
摘要
针对里程计标度因数误差以及安装误差对捷联惯导/里程计组合导航精度存在较大影响的问题,提出一种基于运动学非完整约束的里程计参数在线辨识方法。通过建立航位推算误差模型,利用里程计输出,计算车辆的向心加速度,并与捷联惯导的加速度计输出计算的向心加速度做差作为量测之一;将里程计与捷联惯导输出的速度做差作为量测之二;通过卡尔曼滤波实现里程计标度因数误差以及安装误差的在线辨识。仿真结果表明,该方法组合导航相比速度组合导航,当车辆行驶960s,其东向定位精度提高19.6 m,北向定位精度提高14.2 m。仿真和车载试验结果均表明该方法能实现里程计参数的有效辨识以及航向安装偏差角的估计,有助于提高组合导航精度。
In view that odometer scale factor error and installation error have significant influence on the navigation precision of strapdown inertial navigation system(SINS)/odometer integrated system, an online identification method for odometer parameters is proposed based on kinematic incomplete constraints. By establishing the dead reckoning error model, the centripetal acceleration of the vehicle is calculated using the odometer output, and the difference between the calculated centripetal acceleration and that of the SINS accelerometer output is taken as one of the measurements. The speed difference between the odometer and the SINS output is taken as the other measurement. A Kalman filter is used to realize the online identification of odometer scale factor error and installation error. Simulation results show that, by the proposed method, the east and north positioning accuracies of the vehicle are increased by 19.6 m and 14.2 m respectively compared with the velocity integrated navigation method. Simulation and vehicle test both demonstrate that this method can effectively identify the odometer parameters and estimate the deviation angle of course installation, which is helpful for improving the precision of the integrated navigation.
In view that odometer scale factor error and installation error have significant influence on the navigation precision of strapdown inertial navigation system(SINS)/odometer integrated system, an online identification method for odometer parameters is proposed based on kinematic incomplete constraints. By establishing the dead reckoning error model, the centripetal acceleration of the vehicle is calculated using the odometer output, and the difference between the calculated centripetal acceleration and that of the SINS accelerometer output is taken as one of the measurements. The speed difference between the odometer and the SINS output is taken as the other measurement. A Kalman filter is used to realize the online identification of odometer scale factor error and installation error. Simulation results show that, by the proposed method, the east and north positioning accuracies of the vehicle are increased by 19.6 m and 14.2 m respectively compared with the velocity integrated navigation method. Simulation and vehicle test both demonstrate that this method can effectively identify the odometer parameters and estimate the deviation angle of course installation, which is helpful for improving the precision of the integrated navigation.
引文
[1]Skog I,Handel P.In-car positioning and navigation technologies:a survey[J].IEEE Transactions on Intelligent Transportation Systems,2009,10(1):4-21.
[2]Mourikis A I,Roumeliotis S I,Johnson A E,et al.Vision-aided inertial navigation for spacecraft entry,descent,and landing[J].IEEE Transactions on Robotics,2009,25(2):264-280.
[3]Gao J X,Li K,Chen Y P.Study on integration of FOG single-axis rotational INS and odometer for land vehicle[J].IEEE Sensors Journal,2018,18(2):752-763.
[4]Chang L B,He H Y,Qin F J.In-motion initial alignment for odometer aided strapdown inertial navigation system based on attitude estimation[J].IEEE Sensors Journal,2017,17(3):766-773.
[5]Li C,Wang Z C,Liu H S.Novel method to integrate MARG and an odometer into AHRS for moving vehicles[J].Advances in Mechanical Engineering,2017,9(9):1-15.
[6]Wu Y X.Versatile land navigation using inertial sensors and odometry:self-calibration,in-motion alignment and positioning[C]//Inertial Sensors and Systems Symposium.Germany,2014:11-19.
[7]赵洪松,缪玲娟,沈军.捷联惯导/里程计高精度组合导航算法[J].兵工学报,2014,35(4):433-440.Zhao H S,Miao L J,Shen J.High accuracy algorithm for SINS/odometer integrated navigation system[J].Acta Armamentarh,2014,35(4):433-440.
[8]朱立彬,王玮.车辆导航系统中里程计标度因数的自标定[J].汽车工程,2013,35(5):472-476.Zhu L B,Wang W.Self-calibration of odometer’s scale factor in vehicle navigation system[J].Automotive Engineering,2013,35(5):472-476.
[9]李艳,杨波,薛亮,等.基于车辆运动约束的里程计误差在线标定方法[J].中国惯性技术学报,2016,24(4):485-489.Li Y,Yang B,Xue L,et al.Online calibration method for odometer’s errors based on vehicle motion constraints[J]Journal of Chinese Inertial Technology,2016,24(4):485-489.
[10]刘永红,刘明雍,谢波.航位推算组合导航系统在线标定技术[J].中国惯性技术学报,2015,23(4):434-437.Liu Y H,Liu M Y,Xie B.Online calibration technique for integrated vehicular navigation system[J].Journal of Chinese Inertial Technology,2015,23(4):434-437.
[11]王丽芬,杨功流,单友东,等.车载定位定向系统误差在线补偿方法[J].中国惯性技术学报,2015,23(2):145-149.Wang L F,Yang G L,Shan Y D,et al.On-line error compensation of vehicular position and orientation determination system[J].Journal of Chinese Inertial Technology,2015,23(2):145-149.
[12]Dogruer C U.Estimation of odometer parameters with MMAE and LSE[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM).France,2014:1728-1733.
[13]Li L L,Sun H X,Yang S,et al.Online calibration and compensation of total odometer error in an integrated system[J].Measurement,2018,123:69-79.
[2]Mourikis A I,Roumeliotis S I,Johnson A E,et al.Vision-aided inertial navigation for spacecraft entry,descent,and landing[J].IEEE Transactions on Robotics,2009,25(2):264-280.
[3]Gao J X,Li K,Chen Y P.Study on integration of FOG single-axis rotational INS and odometer for land vehicle[J].IEEE Sensors Journal,2018,18(2):752-763.
[4]Chang L B,He H Y,Qin F J.In-motion initial alignment for odometer aided strapdown inertial navigation system based on attitude estimation[J].IEEE Sensors Journal,2017,17(3):766-773.
[5]Li C,Wang Z C,Liu H S.Novel method to integrate MARG and an odometer into AHRS for moving vehicles[J].Advances in Mechanical Engineering,2017,9(9):1-15.
[6]Wu Y X.Versatile land navigation using inertial sensors and odometry:self-calibration,in-motion alignment and positioning[C]//Inertial Sensors and Systems Symposium.Germany,2014:11-19.
[7]赵洪松,缪玲娟,沈军.捷联惯导/里程计高精度组合导航算法[J].兵工学报,2014,35(4):433-440.Zhao H S,Miao L J,Shen J.High accuracy algorithm for SINS/odometer integrated navigation system[J].Acta Armamentarh,2014,35(4):433-440.
[8]朱立彬,王玮.车辆导航系统中里程计标度因数的自标定[J].汽车工程,2013,35(5):472-476.Zhu L B,Wang W.Self-calibration of odometer’s scale factor in vehicle navigation system[J].Automotive Engineering,2013,35(5):472-476.
[9]李艳,杨波,薛亮,等.基于车辆运动约束的里程计误差在线标定方法[J].中国惯性技术学报,2016,24(4):485-489.Li Y,Yang B,Xue L,et al.Online calibration method for odometer’s errors based on vehicle motion constraints[J]Journal of Chinese Inertial Technology,2016,24(4):485-489.
[10]刘永红,刘明雍,谢波.航位推算组合导航系统在线标定技术[J].中国惯性技术学报,2015,23(4):434-437.Liu Y H,Liu M Y,Xie B.Online calibration technique for integrated vehicular navigation system[J].Journal of Chinese Inertial Technology,2015,23(4):434-437.
[11]王丽芬,杨功流,单友东,等.车载定位定向系统误差在线补偿方法[J].中国惯性技术学报,2015,23(2):145-149.Wang L F,Yang G L,Shan Y D,et al.On-line error compensation of vehicular position and orientation determination system[J].Journal of Chinese Inertial Technology,2015,23(2):145-149.
[12]Dogruer C U.Estimation of odometer parameters with MMAE and LSE[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM).France,2014:1728-1733.
[13]Li L L,Sun H X,Yang S,et al.Online calibration and compensation of total odometer error in an integrated system[J].Measurement,2018,123:69-79.