| 陆用捷联惯导系统/里程计自主式组合导航技术 |
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| 引用本文： | 缪玲娟,李春明,郭振西,杨勇.陆用捷联惯导系统/里程计自主式组合导航技术[J].北京理工大学学报,2004,24(9):808-811. |
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| 作者姓名： | 缪玲娟 李春明 郭振西 杨勇 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京,100081 |
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| 摘 要： | 利用里程计辅助捷联惯导系统构成一种自主式组合导航系统.用捷联惯导系统解算出的速度和里程计所测量的速度之差作为观测量,利用闭环卡尔曼滤波技术进行误差估计与校正,并给出了仿真结果.仿真结果表明,该组合导航系统可有效地减小速率、经度和纬度、航向角和姿态角及航迹推算下的位置等导航参数的累积误差.
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| 关 键 词： | 捷联惯导 里程计 自主式组合导航 卡尔曼滤波 陆用捷联惯导系统 里程计 自主式 组合 导航技术 Vehicles Land SINS 累积误差 导航参数 位置 航迹推算 姿态角 航向角 纬度 减小速率 仿真结果 校正 误差估计 滤波技术 |
| 文章编号： | 1001-0645(2004)09-0808-04 |
| 收稿时间： | 2003/10/15 0:00:00 |
| 修稿时间： | 2003年10月15日 |
Independently Integrated Navigation System of SINS and Distance-Transfer-Unit for Land Vehicles |
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| MIAO Ling-juan,LI Chun-ming,GUO Zhen-xi and YANG Yong.Independently Integrated Navigation System of SINS and Distance-Transfer-Unit for Land Vehicles[J].Journal of Beijing Institute of Technology(Natural Science Edition),2004,24(9):808-811. |
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| Authors: | MIAO Ling-juan LI Chun-ming GUO Zhen-xi and YANG Yong |
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| Institution: | Department of Automatic Control,School of Information Science and Technology,Beijing Institute of Technology,Beijing100081,China;Department of Automatic Control,School of Information Science and Technology,Beijing Institute of Technology,Beijing100081,China;Department of Automatic Control,School of Information Science and Technology,Beijing Institute of Technology,Beijing100081,China;Department of Automatic Control,School of Information Science and Technology,Beijing Institute of Technology,Beijing100081,China |
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| Abstract: | Discusses an independently integrated navigation system(SINS) using the distance-transfer-unit(DTU) to assist the strapdown inertial navigation system(SINS/DTU). The observational measures of the SINS/DTU are the velocity's differences between SINS and DTU,and the SINS/DTU also adopts a closed Kalman filter to estimate and correct the errors. The results of simulation given in this paper indicate that the SINS/DTU can effectively improve on the following navigation parameters:velocity, latitude and longitude, yawing and attitude angle, position of track-reckoning etc. |
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| Keywords: | strapdown inertial navigation distance-transfer-unit independently integrated navigation Kalman filter |
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