Journal of Projectiles, Rockets, Missiles and Guidance >
SINS/OD Integrated Navigation System
Received date: 2013-05-08
Online published: 2025-05-26
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.
Key words： odometer; gyro compassing effect; gyroscope
BAI Liang , YAN Gongmin , ZHU Qiju , TIAN Rongjun . SINS/OD Integrated Navigation System[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2013 , 33(6) : 16 -18 . DOI: 10.15892/j.cnki.djzdxb.2013.06.019
| [1] | 李涛, 吴美平, 江明,等. 激光陀螺 SINS/GPS 组合导航车载试验系统[J]. 国防科技大学学报, 2003,25 (3): 104- 108. |
| [2] | Sasiakek JZ, Wang Q, Zeremba MB. Fuzzy adaptive Kalman filtering for INS/GPS data fusion[C]// Proceedings of the 15th IEEE Intelligent Control, 2000: 181 - 186. |
| [3] | 严恭敏, 秦永元, 杨波. 车载航位推算系统误差补偿技术研究[J]. 西北工业大学学报, 2004,24 (1): 26- 30. |
| [4] | 赵长山, 秦永元, 夏家和. 车载惯导里程仪组合导航系统安装误差标定研究[J]. 计算机测量与控制, 2008,16 (10): 1393- 1395. |
| [5] | 兰春云, 缪玲娟, 沈军. 陆用捷联惯导系统中里程计刻度因子的在线辨识[J]. 北京理工大学学报, 2003,23 (2): 198- 201. |
| [6] | 缪玲娟, 李春明, 郭振西,等. 陆用捷联惯导系统/里程计自主式组合导航技术[J]. 北京理工大学学报, 2004,24 (9): 808- 811. |
| [7] | 郭振西, 缪玲娟, 沈军. 里程计组合的捷联惯导系统运动基座对准研究[J]. 北京理工大学学报, 2005,25 (1): 67- 70. |
| [8] | 严恭敏. 车载自主定位定向系统研究[D]. 西安:西北工业大学, 2006. |
| [9] | 秦永元. 惯性导航[M]. 北京:科学出版社, 2006. |
/
| 〈 |
|
〉 |