SINS/OD组合导航系统转弯误差补偿
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摘要
在车辆转弯过程中,里程计与车辆质心的安装偏差导致里程计的输出和惯性器件的输出会产生较大偏差。此外,当车体航向出现大角度变化时,里程计校正将引起惯导系统姿态振荡,会对车载惯导动基座对准、在线标定以及整个导航过程的精度产生不小的影响。针对里程计产生的转弯误差,在分析惯导与车辆主动轮和里程计位置关系的基础上,考虑到军用车辆的车轮较宽,导致惯导/主动轮的杆臂为时变的,故将其作为滤波状态变量进行实时估计,并在载体系内详细推导了系统模型。仿真结果表明,导航平均位置误差从1.499 0 m减小到了0.799 6 m,说明该方案的有效性。
The installation error between odometer and vehicle's center will lead to a large error between the outputs of odometer and INS in the process of the corners. In addition,the INS oscillation will be caused by odometer correction when there is large direction angle changes,which will bring a great influence to in-motion alignment,on-line calibration and the whole navigation processes. To eliminate the odometer's corners error,first analysis of the location relationship between the driving wheel and the odometer,then the military vehicle wheels usually is very wide be considered,which will lead to the lever arm between INS and the driving wheel is time-varying. So put it as a state variables of filter and estimated in the real-time. and the system model is deduced in body frame. The results show that the average position error decreases from 1.499 0 m to 0.799 6 m,illustrates the effectiveness of the proposed scheme.
The installation error between odometer and vehicle's center will lead to a large error between the outputs of odometer and INS in the process of the corners. In addition,the INS oscillation will be caused by odometer correction when there is large direction angle changes,which will bring a great influence to in-motion alignment,on-line calibration and the whole navigation processes. To eliminate the odometer's corners error,first analysis of the location relationship between the driving wheel and the odometer,then the military vehicle wheels usually is very wide be considered,which will lead to the lever arm between INS and the driving wheel is time-varying. So put it as a state variables of filter and estimated in the real-time. and the system model is deduced in body frame. The results show that the average position error decreases from 1.499 0 m to 0.799 6 m,illustrates the effectiveness of the proposed scheme.
引文
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[13]KIM S B,BAZIN J C,LEE H K,et al.Ground vehicle navigationin harsh urban conditions by integrating inertial navigationsystem,global positioning system,odometer and vision data[J].IET Radar,Sonar&Navigation,2011,5(8):814-823.
[14]总装备部.GJB 5418-2005,地面导航系统定型试验规程[S].北京:解放军总装备部,2005.
[2]NDJENG A N,GRUYER D,GLASER S,et al.Low cost IMU–Odometer–GPS ego localization for unusual maneuvers[J].Information Fusion,2011(12):264-274.
[3]WENG J,YOU J C,QIN Y Y.Vehicle SINS/OD lever-arm online compensation algorithm[J].Chinese Journal of Sensors and Actuators,2013,26(9):111-115.
[4]朱立彬,王玮.基于滑动模型的车辆里程仪标度因数标定方法[J].系统工程与电子技术,2012,34(4):778-781.
[5]严恭敏.车载自主定位定向系统研究[D].西安:西北工业大学,2006.
[6]丁文娟,李岁劳,熊伟.捷联惯导系统/里程计自主式车载组合导航系统研究[J].计测技术,2006,26(1):14-16.
[7]付强文,秦永元,李四海,等.车辆运动学约束辅助的惯性导航算法[J].中国惯性技术学报,2012,20(6):640-643.
[8]白亮,严恭敏,朱启举,等.里程计辅助的捷联惯导系统研究[J].弹箭与制导学报,2013,33(6):16-18.
[9]SAURABH G.Perfomance evaluation of low cost MEMSbased IMU integrated with GPS for land vehicle navigation application[D].Calgary:The University of Calgary,2006.
[10]GEORGY J,NOURELDIN A,KORENBERG M J,et al.Modeling the stochastic drift of a MEMS-based gyroscope in gyro/odometer/GPS integrated navigation[J].IEEE Transactions on Intelligent Transportation Systems,2010,11(4):856-872.
[11]肖煊,王清哲,程远,等.捷联惯导系统/里程计高精度紧组合导航算法[J].兵工学报,2012,33(4):395-400.
[12]GEORGY J,KARAMAT T,IABAL U,et al.Enhanced MEMS-IMU/odometer/GPS integration using mixture particle filter[J].GPSSolutions,2011,15(3):239-252.
[13]KIM S B,BAZIN J C,LEE H K,et al.Ground vehicle navigationin harsh urban conditions by integrating inertial navigationsystem,global positioning system,odometer and vision data[J].IET Radar,Sonar&Navigation,2011,5(8):814-823.
[14]总装备部.GJB 5418-2005,地面导航系统定型试验规程[S].北京:解放军总装备部,2005.