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- 2016
车载移动测量中定位定姿系统误差校正与补偿研究
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Abstract:
讨论了全球导航卫星系统（global navigation satellite system，GNSS）/里程计（odometer，ODO）/惯性导航系统（inertial navigation system，INS）组合定位定姿中误差校正与ODO/INS组合导航两个方面的问题。针对里程计刻度因子和安装误差角的校正，在不改变原GNSS/INS滤波器的基础上，设计了GNSS/INS与INS/ODO两级卡尔曼滤波器级联结构，将INS导航误差与里程计刻度因子误差、安装误差角分别列入两个滤波器的系统状态中，在GNSS连续观测和固定模糊度条件下，利用里程计和惯导里程增量之差作为INS/ODO卡尔曼滤波器的外部观测，对误差进行校正。另一方面，使用校正过的里程计和安装误差角，在GNSS失锁条件下对INS进行观测和修正。跑车实验结果表明，本文算法可以有效校正里程计刻度因子和定位定姿（positioning and orientaton system，POS）安装误差角，同时大幅提高GNSS失锁条件下的定位精度，配合平滑卡尔曼滤波器，可将城市移动测量两分钟GNSS失锁条件下的定位误差控制在0.5 m以内
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