针对车载里程计小量微分引起噪声放大和脉冲计数截断误差造成里程增量误差,进而影响系统精度的问题,提出了基于固定里程量测的组合导航方法。该算法采用位置量测方案,将固定里程范围内捷联惯导解算的位置信息和里程计航位推算之差作为量测值进行组合导航,并提出了里程计脉冲计数截断误差修正方法。仿真表明,该方法可以快速分离组合导航系统各传感器误差,具有较高的定位定向精度和推广应用价值。

Since small differential error of odometer causes noise amplification and pulse calculation error causes small differential of mileage meter, both influence on system accuracy In this paper an integrated navigation method based on fixed distance measurement was proposed, which takes the difference between positions of SINS calculation and dead reckoning of odometer in the fixed mileage range as the measurement value of integrated navigation, and the correction method of odometer was put forward for pulse counting truncation error. The results of the system simulation show that this method can quickly separate sensor error of integrated navigation system, and has higher positioning accuracy This method can be applied in system of vehicle SINS widely.