一种单轴旋转的车载IMU/DTU组合导航方法

长时间机动工况时,某些复杂路况和车况环境下,捷联惯导组合导航系统方位角误差将增大。基于已有组合导航算法框架,提出了一种基于单轴旋转调制的组合导航方法。采用21维IMU/DTU(里程计)误差状态构造状态方程,以捷联惯导解算的位移增量与里程计解算的位移增量之差作为观测量,Kalman滤波器融合惯导与里程计信息,利用旋转调制机制,可对消IMU/DTU组合导航系统主要误差,实时输出高精度的方位数据和位置数据,对载车的行驶状态无特殊要求。进行了仿真试验和实车试验。试验结果表明:该方法能够在长时间机动工况下实现较高的方位精度和位置精度。挖掘了惯导组合导航系统的潜在精度,提高了快速反应能力、环境适应性和可用性,具有较好的工程应用价值。

Single Axis Rotation IMU/DTU Integrated Navigation Algorithm for Marching Vehicles

Heading error of Strapdown inertial navigation system(INS)may be enlarged in some complicated road and vehicle conditions when maneuvering long time.An integrated navigation algorithm based on single INS(SINS)integrated navigation algorithm frame was presented.Integrated navigation was achieved through Kalman filter with 21 error states of the inertial measurement unit/distance transfer unit(IMU/DTU),which selected the difference between the displacement increment obtained respectively from the INS and the DTUas the observation term.Most errors of IMU/DTU integrated navigation system was canceled automatically by way of rotation and Kalman filter,which integrated information from the INS and the DTU.Precise position information and attitude information could be output without special conditions for marching vehicles.Some simulation experiments and vehicular tests were executed,which showed that the algorithm was able to achieve precise heading(attitude)and position.Potential accuracy was discovered.Rapid response capability,environmental adaptability and usability were improved greatly.