基于位置修正的轨迹测量方法研究

Research on Trajectory Measurement Based on Position Correction

关键词:  轨迹测量  惯性导航  航位推算  位置修正

Key words:  Trajectory measurement  Inertial navigation  Dead reckoning  Position correction

摘要:

传统精密轨迹测量方法大都采用GPS、全站仪等设备,存在设备不易架设、数据不连续、对环境要求较高等缺点。针对该问题提出一种基于航位推算系统的轨迹测量方法。该方法在航位推算基础上引入了位置修正技术,通过起始点与终点坐标即可计算出系统俯仰角误差、方位角误差及里程仪标度因数误差。系统完成航位推算计算后,用求解出的系统误差对航位推算轨迹进行修正,即可获得高精度的轨迹数据。最后通过试验验证该方法可行,系统行进153m误差小于0.12m。

Abstract:

The traditional trajectory measurement is based on equipments like GPS and Total Station.There are some shortcomings of these methods, such as the equipment is hard to set up, the data is discontinuous, and the requirement for environment is high. A trajectory measurement method that uses the position correction technology based on the dead reckoning system is presented. The heading installation deviation angle,pitch installation deviation angle and the scale factor error of odometer can be estimated by the coordinates of the starting point and the end point. After the completion of the dead reckoning, the highprecision data can be obtained by modifying the trajectory with calculated system error. Experiment results show that the method is feasible and the error is less than 0.12m when the system travels 153m.