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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >INS/Odometer Land Navigation by Accurate Measurement Modeling and Multiple-Model Adaptive Estimation
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INS/Odometer Land Navigation by Accurate Measurement Modeling and Multiple-Model Adaptive Estimation

机译：通过精确的测量建模和多型自适应估算，INS / REATOMOTER陆地导航

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摘要

Land vehicle navigation based on the inertial navigation system (INS) and odometers (ODs) is a classical autonomous navigation application and has been extensively studied over the past several decades. In this article, we seriously analyze the error characteristics of the OD pulses and investigate three types of OD measurement models in the INS/OD integrated system. Specifically, in the pulse velocity model, a preliminary Kalman filter is designed to obtain an accurate vehicle velocity from the accumulated pulses; the pulse increment model is accordingly obtained by integrating the pulse velocity; a new pulse accumulation model is proposed by augmenting the traveled distance into the system state. The three types of measurements, along with the nonholonomic constraint, are implemented in the standard extended Kalman filter. In view of the motion-related pulse error characteristics, the multiple model adaptive estimation (MMAE) approach is exploited to further enhance the performance. Simulations and long-distance experiments are conducted to verify the feasibility and effectiveness of the proposed methods. It is shown that the standard pulse velocity measurement achieves superior performance, whereas the accumulated pulse measurement is most favorable with the MMAE enhancement.
机译：基于惯性导航系统（INS）和测量仪（ODS）的陆车辆导航是一种经典的自主导航应用，并在过去几十年中广泛研究过。在本文中，我们认真分析OD脉冲的误差特征，并在INS / OD集成系统中调查三种类型的OD测量模型。具体地，在脉冲速度模型中，初步卡尔曼滤波器被设计成从累积的脉冲获得精确的车辆速度;因此，通过集成脉冲速度来获得脉冲增量模型;通过将行驶距离增强到系统状态来提出新的脉冲累积模型。在标准扩展卡尔曼滤波器中实现了三种类型的测量和非完整约束。鉴于运动相关的脉冲误差特性，利用多模型自适应估计（MMAE）方法以进一步提高性能。进行模拟和远程实验，以验证所提出的方法的可行性和有效性。结果表明，标准脉冲速度测量达到了卓越的性能，而累积的脉冲测量最有利于MMAE增强。

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