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基于SINS速度信息的里程计参数快速标定方法

周召发 梁哲 徐志浩 常振军 陈河 赵芝谦

周召发, 梁哲, 徐志浩, 常振军, 陈河, 赵芝谦. 基于SINS速度信息的里程计参数快速标定方法[J]. 西南交通大学学报, 2024, 59(2): 431-437. doi: 10.3969/j.issn.0258-2724.20210956
引用本文: 周召发, 梁哲, 徐志浩, 常振军, 陈河, 赵芝谦. 基于SINS速度信息的里程计参数快速标定方法[J]. 西南交通大学学报, 2024, 59(2): 431-437. doi: 10.3969/j.issn.0258-2724.20210956
ZHOU Zhaofa, LIANG Zhe, XU Zhihao, CHANG Zhenjun, CHEN He, ZHAO Zhiqian. Fast Calibration Method of Odometer Parameters Based on Speed Information of Strapdown Inertial Navigation System[J]. Journal of Southwest Jiaotong University, 2024, 59(2): 431-437. doi: 10.3969/j.issn.0258-2724.20210956
Citation: ZHOU Zhaofa, LIANG Zhe, XU Zhihao, CHANG Zhenjun, CHEN He, ZHAO Zhiqian. Fast Calibration Method of Odometer Parameters Based on Speed Information of Strapdown Inertial Navigation System[J]. Journal of Southwest Jiaotong University, 2024, 59(2): 431-437. doi: 10.3969/j.issn.0258-2724.20210956

基于SINS速度信息的里程计参数快速标定方法

doi: 10.3969/j.issn.0258-2724.20210956
基金项目: 航空科学基金(201808U8004)
详细信息
    作者简介:

    周召发(1973—),男,教授,博士,研究方向为组合导航,E-mail:zzftxy@163.com

  • 中图分类号: TN96

Fast Calibration Method of Odometer Parameters Based on Speed Information of Strapdown Inertial Navigation System

  • 摘要:

    针对里程计标度因数误差和安装误差对捷联惯导/里程计组合导航精度的显著影响,提出一种基于短时捷联惯导系统(strapdown inertial navigation system,SINS)速度信息的里程计参数标定方法. 通过建立航位推算误差模型,构建惯性测量单元(inertial measurement unit,IMU)坐标系内惯导系统输出速度与里程计输出之间的关系式,得到里程计参数的计算公式;利用最小二乘法对里程计标度因数和安装误差进行标定. 该方法只利用了捷联惯导信息,在1 min内就可实现里程计参数的初次标定,不需要相关参数误差值为小量的假设,并可以忽略杆臂效应对标定效果的影响. 试验结果表明:当车辆行驶30 min后,利用该方法标定后的水平航位推算精度比传统标定方法定位精度高92.3%.

     

  • 图 1  里程计和IMU安装关系示意

    Figure 1.  Schematic of installation connection for odometer and IMU

    图 2  试验用车

    Figure 2.  Test vehicle

    图 3  车辆行驶轨迹

    Figure 3.  Vehicle running trajectory

    图 4  车辆姿态和速度变化曲线

    Figure 4.  Curves of vehicle attitude and speed

    图 5  不同标定参数的航位推算位置误差

    Figure 5.  Position error of dead reckoning with different calibration parameters

    表  1  $ {\hat \alpha _{\text{ψ}} } $为小量时不同方案标定结果

    Table  1.   Calibration results of different schemes with small quantity of $ {\hat \alpha _{\text{ψ}} } $

    方案 $ {\hat \alpha _{\text{θ}} } $/(°) $ {\hat \alpha _{\text{ψ}} } $/(°) $ {\hat K_{{\text{OD}}}} $/(m·脉冲−1
    1 0.008444 0.499448 0.013037
    2 0.178213 −12.608224 0.019387
    下载: 导出CSV

    表  2  $ {\hat \alpha _{\text{ψ}}} $不为小量时不同方案标定结果

    Table  2.   Calibration results of different schemes with no small quantity of $ {\hat \alpha _{\text{ψ}} } $

    方案 $ {\hat \alpha _{\text{θ}} } $/(°) $ {\hat \alpha _{\text{ψ}} } $/(°) $ {\hat K_{{\text{OD}}}} $/(m·脉冲−1
    1 0.008444 90.499448 0.013037
    2 0.182691 79.700219 0.017921
    下载: 导出CSV

    表  3  $ {\hat \alpha _{\text{ψ}}} $不为小量时不同方案标定结果 (原s系绕z轴再逆时针旋转90°)

    Table  3.   Calibration results of different schemes with no small quantity of $ {\hat \alpha _{\text{ψ}} } $ (original s system rotating 90° counterclockwise around z axis)

    方案 $ {\hat \alpha _{\text{θ}} } $/(°) $ {\hat \alpha _{\text{ψ}}} $/(°) $ {\hat K_{{\text{OD}}}} $/(m·脉冲−1
    1 0.008464 180.499446 0.013033
    2 0.202691 163.700219 0.015921
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-11-12
  • 修回日期:  2022-04-18
  • 网络出版日期:  2024-01-26
  • 刊出日期:  2022-05-20

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