载体运动学辅助的双轴旋转调制惯性导航算法

doi:10.3969/j.issn.1001-506X.2020.09.23

摘要/Abstract

摘要：

为提高车载捷联惯导系统的导航精度,提出一种载体运动学约束辅助双轴旋转调制的惯性导航算法。建立了惯性测量单元(inertial measurement unit, IMU)旋转的载体运动学约束模型,设计了32次序转位方案,在实现惯性器件误差自补偿的同时提高了系统可观测度,从而将提高了可观测度的载体运动学约束导航与旋转调制导航结合,进一步提高了导航精度。进行了4 000 s静止条件下的导航试验,结果证明此方法可以有效提高定位精度,水平定位精度和高度精度分别比双轴旋转调制导航提高48.2%和80.3%,比载体约束辅助导航提高85.1%和89.9%。最后通过车载实验验证了该方法的有效性。

关键词: 惯性导航, 双轴旋转调制, 运动学约束, 转位方案, 可观测度

Abstract:

In order to improve the autonomous navigation accuracy of the vehicle-mounted strapdown inertial navigation system, an inertial navigation algorithm based on carrier kinematics constrained auxiliary biaxial rotary modulation is proposed. The carrier kinematics constraint model of inertial measurement unit(IMU) rotation is established, and the 32-order indexing scheme is designed to improve the system observability while realizing the inertia device error self-compensation, thus improving the observability of the carrier kinematic constrained navigation and rotation. The combination of modulation and navigation further improves the navigation accuracy. The navigation test under 4000 s static condition is carried out. The results show that this method can effectively improve the positioning accuracy. The horizontal positioning accuracy and height accuracy are 48.2% and 80.3% higher than that of the biaxial rotary modulation navigation, respectively, which is 85.1% and 89.9% higher than the carrier-constrained navigation. Finally, the effectiveness of the method is verified by vehicle test.

Key words: inertial navigation, two-axis rotation modulation, kinematic constraint, indexing scheme, observability

中图分类号:

TJ765.1

徐志浩, 周召发, 常振军, 徐梓皓. 载体运动学辅助的双轴旋转调制惯性导航算法[J]. 系统工程与电子技术, 2020, 42(9): 2066-2070.

Zhihao XU, Zhaofa ZHOU, Zhenjun CHANG, Zihao XU. Carrier kinematics aided two-axis rotary modulation inertial navigation algorithm[J]. Systems Engineering and Electronics, 2020, 42(9): 2066-2070.

图/表 6

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次序	转轴与转角
1	Z+90°
2	Z+90°
3	Y+90°
4	Y+90°
5	Z-90°
6	Z-90°
7	Y-90°
8	Y-90°
9	Y-90°
10	Y-90°
11	Z-90°
12	Z-90°
13	Y+90°
14	Y+90°
15	Z+90°
16	Z+90°

状态变量	?_E	?_N	?_U	δV_E	δV_N	δV_U	δL	δλ	δh	ε_x^s	ε_y^s	ε_z^s	∇_x^s	∇_y^s	∇_y^s
IMU不旋转可观测度	0.13	0.71	5.24e-4	1.00	1.31e-3	0.87	1.31e-32	2.55e-3	2.81e-7	1.68e-3	0.16	4.11e-5	5.27e-3	1.29e-4	0.11
IMU旋转可观测度	0.43	2.04	0.58	1.00	2.62e-2	1.45	5.23e-19	2.54e-3	4.74e-7	1.33e-2	0.21	6.8e-2	9.13e-2	9.84e-2	9.79e-2

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