对从里程仪输出的路程增量信号中提取载体运动速度的问题进行了研究。为了获得更高精度的载体运动速度,利用跟踪微分器将载体运动速度从里程仪输出的路程增量信号中提取出来,并与传统的一阶差分算法进行比较,结果表明前者可以有效的抑制噪声放大问题,并具有较强的抗干扰能力,且算法简单,参数调节方便,滤波效果良好。最后通过计算机仿真验证了该算法的有效性,为构建捷联惯导/里程仪组合导航系统奠定了基础。

The method of extracting velocity of the moving vehicle from output signal of odometer with tracking differentiator was introduced to improve velocity precision. Compared with first order difference, this method could not only restrain the noise, but also has a strong anti-interference ability, simple algorithm, convenient parameter adjustment and good filter effect. Finally, the algorithm was demonstrated by computer simulation, which laid the foundation for construction of integrated navigation system.