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	车载惯性导航的动态零速修正技术
	方靖 ; 顾启泰 ; 丁天怀 ; FANG Jing ; GU Qi-tai ; DING Tian-huai
	2010-05-13 ; 2010-05-13
关键词	车载惯性导航 动态零速修正 轨迹修正 Kalman滤波 vehicle inertial navigation dynamic zero velocity update trajectory correcting Kalman filter U666.12
其他题名	Dynamic zero velocity update for vehicle inertial navigation system
中文摘要	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30min不停车条件下,能够使惯性导航精度提高1～3个数量级。; 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 accuracy can be increased by 1-3 orders by using DZUPT technique within 30 min and without any halt.
语种	中文 ; 中文
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/31254]
专题	清华大学
推荐引用方式 GB/T 7714	方靖,顾启泰,丁天怀,等. 车载惯性导航的动态零速修正技术[J],2010, 2010.
APA	方靖,顾启泰,丁天怀,FANG Jing,GU Qi-tai,&DING Tian-huai.(2010).车载惯性导航的动态零速修正技术..
MLA	方靖,et al."车载惯性导航的动态零速修正技术".(2010).

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