零速修正技术在车载惯性导航中的应用研究

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。

Study on Application of Zero Velocity Update Technology to Inertial Navigation System

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.