摘要
针对载车在运动状态下的初始对准问题,提出了利用航位推算算法进行精对准的新方法,阐述了航位推算轨迹和真实轨迹相似的原理。在载车初始粗对准之后,行驶一段路程到达一位置已知点,由航位推算结果并运用相似性原理求出初始粗对准的航向误差角,从而修正航向角达到精对准的目的。最后通过跑车试验验证了对准方法的有效性,当载车起始点和位置已知点间距离为6 km左右时,初始对准航向角可达到角分级精度。
Using dead reckoning（DR） algorithm, a novel method is presented to implement the dynamic initial fine alignment for vehicular navigation system. The similarity theory between the DR trajectory and the true trajectory is deduced. After initial coarse alignment and reaching a position known point, azimuth error is compensated based on the DR algorithm and the similarity theory. Finally the field test verifies the alignment algorithms. When the distance between the startup point and the position-known point is about 6km, the accuracy of azimuth in initial fine alignment can reach minute level.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2006年第9期1404-1407,共4页
Systems Engineering and Electronics
关键词
惯性导航
初始对准
航位推算
相似性原理
inertial navigation； initial alignment； dead reckoning； similarity theory
