车载惯性导航的动态零速修正技术-方靖.pdfVIP

第 16 卷第 3 期 中国惯性技术学报 Vol.16 No.3 2008 年 6 月 Journal of Chinese Inertial Technology Jun. 2008 文章编号：1005-6734(2008)03-0265-04 车载惯性导航的动态零速修正技术 方 靖，顾启泰，丁天怀 （清华大学精密仪器与机械学系，北京 100084 ） 摘要：为增强车载惯性导航零速修正技术的机动性能，提出了一种动态零速修正技术。利用车体坐标系横向和 垂直方向上速度为零，作为约束条件，构造虚拟噪声观测量；设计了 U-D 协方差分解与序贯处理的 Kalman 滤 波方法，进行实时轨迹修正；选用 VG941-3AM 型光纤陀螺仪和 JN-06A 型挠性加速度计组成惯导系统，分别在 重复行驶和复杂行驶条件下进行了车载试验。试验结果表明：动态零速修正技术能够有效抑制车载惯性导航误 差增长，在30 min不停车条件下，能够使惯性导航精度提高1～3个数量级。 关 键 词：车载惯性导航；动态零速修正；轨迹修正；Kalman 滤波 中图分类号：U666.1 文献标志码：A Dynamic zero velocity update for vehicle inertial navigation system FANG Jing, GU Qi-tai, DING Tian-huai (Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China) Abstract: An Dynamic Zero Velocity Update (DZUPT) technique was presented to improve the flexibility of Zero Velocity Update (ZUPT) in vehicle inertial navigation system. The virtual noise observations were constructed, in which zero transverse and vertical velocities in vehicle body coordinate were taken as the constraint condition. U-D covariance factorization algorithm and sequential processing of Kalman filtering were designed to carry out real-time trajectory correcting. VG941-3AM fiber optical gyros and JN-06A flexibility accelerometers were chosen to constitute the inertial navigation system. The vehicle experiments were carried out under both repeated and complicated driving conditions. The experiment results show that DZUPT may effectively restrain the increase of inertial navigation error. The vehicle inertial navigation a