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计算机工程 ›› 2013, Vol. 39 ›› Issue (5): 314-317. doi: 10.3969/j.issn.1000-3428.2013.05.070

• 开发研究与工程应用 • 上一篇    下一篇

基于DR/GIS组合导航的误差补偿研究

许建国,张志利,周召发   

  1. (第二炮兵工程大学兵器发射理论与技术国家重点学科实验室,西安 710025)
  • 收稿日期:2012-04-06 出版日期:2013-05-15 发布日期:2013-05-14
  • 作者简介:许建国(1985-),男,博士研究生,主研方向:导航算法,车辆自主定位定向;张志利、周召发,教授、博士

Research on Error Compensation Based on DR/GIS Integrated Navigation

XU Jian-guo, ZHANG Zhi-li, ZHOU Zhao-fa   

  1. (National Key Disciplines Lab of Armament Launch Theory & Technology, The Second Artillery Engineering University, Xi’an 710025, China)
  • Received:2012-04-06 Online:2013-05-15 Published:2013-05-14

摘要: 受初始对准偏差和里程仪系数误差等影响,航位推算导航误差随时间增加而变大。为此,提出一种地图匹配算法,用于精确匹配航位,利用定位误差进行车辆航向偏差角和里程仪误差补偿计算,采用反馈迭代的方法对误差进行补偿修正。实验结果表明,里程仪系数误差和动态对准精度主要受车辆行驶位移和定位精度影响,经过5次迭代修正后,里程仪系数误差得到明显降低,对准精度可达角分级,同时可以较好地抑制陀螺漂移对导航偏差的影响。

关键词: 捷联惯导系统, 航位推算, 动态对准, 地图匹配, 误差补偿, 陀螺漂移

Abstract: Due to the initial alignment declination and odometer coefficient error, navigation errors are increased with time. To solve this problem, the map matching algorithm is used to precisely match the dead reckoning to compensate the vehicles heading deviation angle and odometer coefficient error by positioning error. The error feedback iterative method is used to compensate for correction. Study result shows that the odometer coefficient error and dynamic alignment accuracy are mainly affected by the vehicles displacement and positioning accuracy, the odometer coefficient error is significantly lower and the accuracy of alignment can reach minute level after five iterative calculations, which can also better inhibit the gyro drift on navigation deviations impact.

Key words: Stapdown Initial Navigation System(SINS), Dead Reckoning(DR), dynamic alignment, map matching, error compensation, gyro drift

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