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	Dynamic zero velocity update for vehicle inertial navigation system
	Fang Jing ; Gu Qi-tai ; Ding Tian-huai
	2010-10-12 ; 2010-10-12
关键词	Practical/ fibre optic gyroscopes inertial navigation Kalman filters/ dynamic zero velocity update vehicle inertial navigation system virtual noise observations zero transverse vertical velocities vehicle body coordinate U-D covariance factorization algorithm sequential processing Kalman filtering real-time trajectory correcting VG941-3AM fiber optical gyros JN-06A flexibility accelerometers/ B7630 Aerospace instrumentation B1270 Filters and other networks B7230E Fibre optic sensors
中文摘要	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
出版者	Editorial Department of the Journal of Chinese Inertial Technology ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/80427]
专题	清华大学
推荐引用方式 GB/T 7714	Fang Jing,Gu Qi-tai,Ding Tian-huai. Dynamic zero velocity update for vehicle inertial navigation system[J],2010, 2010.
APA	Fang Jing,Gu Qi-tai,&Ding Tian-huai.(2010).Dynamic zero velocity update for vehicle inertial navigation system..
MLA	Fang Jing,et al."Dynamic zero velocity update for vehicle inertial navigation system".(2010).

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