对以里程计与捷联惯导速度之差为量测的捷联惯导/里程计组合导航系统进行了研究。在车辆运动条件下对捷联惯导误差方程进行了简化,并根据简化方程对速度量测方程进行了分析,结果表明捷联惯导/里程计组合导航系统的量测中并未包含载体机动的相关信息,因此载车的机动不能明显加快天向平台误差角的收敛速度,但是随时间增长可通过罗经效应对其进行估计。最后通过计算机仿真验证了上述结论的正确性。

The SINS/OD integrated navigation system, whose measurement is formed by the odometer output and SINS velocity, is investigated. The error model of the SINS, which is working in the land vehicle-borne scenario, is simplified. Based on the simplified equation, the speed measurement equation is analyzed; the results show that the measurement of SINS/odometer integrated navigation system does not contain information related to the carrier mobility. So the azimuth error converge speed can't be accelerated by maneuvers. But With the passage of time, the azimuth error can be estimated through gyro compassing effect. At last, the analysis result is demonstrated by computer simulation.