| 摘要: |
| 针对激光惯组斜置条件下惯组坐标系相对里程计坐标系是大角度的情况，建立了两坐标系之间的转换关系，推导了里程计输出转换的安装误差补偿模型，在补偿模型基础上给出了安装误差计算公式。以惯组位移与里程计位移之差作为量测值，建立了状态和量测方程，运用Kalman滤波技术实现惯组/里程计组合导航，最后通过跑车试验对提出的惯性/里程计组合导航方法进行了验证，结果表明了该方法的有效性。 |
| 关键词: 里程计 大角度 安装误差 组合导航 |
| DOI： |
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| 基金项目: |
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| Research on Integrated Navigation of LIMU and Odometer with Large Angle |
| LI Dan,LIU Ming,HU Hua-feng,LUO Wei |
| (The General Design Institute of Hubei Aerospace Technology Academy) |
| Abstract: |
| The relationship between IMU coordinate system and odometer coordinate system is established when large angel is posed due to their installation strategy. Mathematical model is chosen to acquire navigation parameters of odometer from its pulse, and the formula of large angle is put forward. Process equation and measure equation are acquired based on displacements of IMU and odometer by Kalman-filter, field test is carried out to validate the method and the results turn out to be effectual |
| Key words: Odometer Large angle Installation error Integrated navigation |
