基于强跟踪滤波的捷联惯导/里程计组合导航

doi:10.3969/j.issn.1009-086x.2018.04.005

现代防御技术 ›› 2018, Vol. 46 ›› Issue (4): 27-32.DOI: 10.3969/j.issn.1009-086x.2018.04.005

基于强跟踪滤波的捷联惯导/里程计组合导航

陈雨¹, 王健博¹, 张凌东², 曹全¹, 陈世业¹, 刘宇航¹

1.北京航天发射技术研究所,北京 100076;
2.火箭军驻211厂军事代表室,北京 100076

收稿日期:2017-06-20 修回日期:2018-01-29 出版日期:2018-08-30 发布日期:2020-11-25
作者简介:陈雨(1985-),男,湖南茶陵人。工程师,博士,研究方向为定位定向系统研究。通信地址:100076 北京9200信箱71分箱 E-mail:chenyu851116@163.com

SINS/Odometer Integrated Navigation Based on Strong Tracking Filter

CHEN Yu¹, WANG Jian-bo¹, ZHANG Ling-dong², CAO Quan¹, CHEN Shi-ye¹, LIU Yu-hang¹

1. Beijing Institute of Space Launch Technology,Beijing 100076,China;
2. Military Representative Office of Rocket Army in 211 Factory,Beijing 100076,China

Received:2017-06-20 Revised:2018-01-29 Online:2018-08-30 Published:2020-11-25

摘要/Abstract

摘要： 针对车载里程计刻度系数受轮胎胎压、温度等的影响实时变化,提出采用强跟踪滤波进行捷联惯导/里程计组合导航。强跟踪滤波利用卡尔曼滤波残差序列相互正交的性质,在线实时调整渐消因子,对突变状态有较强的跟踪能力。提出采用平均速度匹配方法以消除载车振动及里程计量化误差对组合导航的影响,同时将杆臂误差列入状态量,消除不准确的杆臂在载车转弯时对组合导航的影响,建立了捷联惯导/里程计组合导航模型。进行了实际组合导航跑车试验,结果表明组合导航的定位精度优于1‰D。

关键词: 组合导航, 卡尔曼滤波, 强跟踪滤波, 捷联惯导, 里程计, 杆臂

Abstract: Aiming at the problem that the vehicle odometer scale factor changes in real time due to the influence of tire pressure and temperature, a method of SINS (strap down inertial navigation system)/odometer integrated navigation based on strong tracking filter is presented. The property that the residual sequences of Kalman filter are mutually orthogonal is used to adjust fading factor adaptively. The strong tracking filter has the ability to track the sudden change state. The average velocity matching method is proposed to eliminate the influence of vehicle vibration and odometer quantization error on integrated navigation. The lever arm error is adopted into the state variables to eliminate the influence of inaccurate lever arm on integrated navigation when the vehicle is turning. The SINS/odometer integrated navigation model is built. The actual vehicle integrated navigation experiment is carried out. The results show that the positioning accuracy of integrated navigation is better than 1‰D.

Key words: integrated navigation, Kalman filter, strong tracking filter, strapdown inertial navigation system(SINS), odometer, lever arm

中图分类号:

陈雨, 王健博, 张凌东, 曹全, 陈世业, 刘宇航. 基于强跟踪滤波的捷联惯导/里程计组合导航[J]. 现代防御技术, 2018, 46(4): 27-32.

CHEN Yu, WANG Jian-bo, ZHANG Ling-dong, CAO Quan, CHEN Shi-ye, LIU Yu-hang. SINS/Odometer Integrated Navigation Based on Strong Tracking Filter[J]. Modern Defense Technology, 2018, 46(4): 27-32.

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基于强跟踪滤波的捷联惯导/里程计组合导航

SINS/Odometer Integrated Navigation Based on Strong Tracking Filter

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