赵玉,赵忠,范毅.零速修正技术在车载惯性导航中的应用研究[J].压电与声光,2012,34(6):843-847.ZHAO Yu,ZHAO Zhong,FAN Yi.Study on Application of Zero Velocity Update Technology to Inertial Navigation System[J].PIEZOELECTRICS AND ACOUSTOOPTICS
零速修正技术在车载惯性导航中的应用研究
Study on Application of Zero Velocity Update Technology to Inertial Navigation System
  
DOI:10.11977/j.issn.1004-2474.2012.06.010
中文关键词:  惯性导航  零速修正  可观测性  卡尔曼滤波
英文关键词:INS  zero velocity update  observability  Kalman filter
基金项目:
作者单位
赵玉 (西北工业大学 自动化学院陕西 西安 710129) 
赵忠  
范毅  
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中文摘要:
      针对车载惯性导航系统由于无外部信息长时间运动导致的误差积累的问题,提出一种运用动态零速修正技术来提高导航精度的方法。利用零速修正技术的约束条件,构造观测量;用基于普条件数可观测理论对系统各状态进行了可观测性分析,确定卡尔曼滤波器的滤波效果,并进行仿真实验对姿态角误差、速度误差进行了估计。实验表明,在惯性导航系统中,零速修正技术很大程度上提高了导航的位置、速度、姿态信息,有效地确保了车载导航的导航精度。
英文摘要:
      According to the problem of prolonged navigation error accumulation without external information in vehicle inertial navigation system, a method of improving the navigation accuracy by using the dynamic zero velocity update technology was proposed. The observables were constructed by using the constraint conditions of the zero velocity update technology. First, the theory of spectral condition number was used to analyze the observability of error states and determine the effect of Kalman filter, then the attitude angle error, rate errors were estimated though the simulation experiment. Experiments showed that, in the inertial navigation system, zero velocity update technology improved the navigation position, velocity, attitude information greatly and effectively ensured the accuracy of vehicle navigation.
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