惯导系统的零速校正技术研究

针对传统零速校正中存在的问题,提出了改进的曲线拟合法和滤波估计法.改进的曲线拟合法通过对惯导系统误差模型的分析,解耦出速度误差项的舒拉部分.从而更准确地拟合出速度误差曲线.改进的滤波估计法引入偏差去耦技术在零速校正期间估计出陀螺漂移,并利用速度信息快速估计出方位误差角.仿真分析表明,两种方法都可以有效提高惯导系统的性能.

Study of Zero Velocity Update for Inertial Navigation

In view of the problems about conventional zero velocity update(ZUPT),the improved curve fitting method and filter estimation method were provided. In the improved curve fitting method,the Schuler component in velocity error was decoupled through the analysis of inertial navigation system. The more accurate curve fitting was proposed consequently. In the improved filter estimation method,the decoupled state and bias estimation technology is introduced to estimate gyro constant bias during ZUPT. The azimuth misalignment was estimated by velocity information. The simulation results show that both of the methods could improve the performance of inertial navigation.