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首页> 外文期刊>IEEE Transactions on Vehicular Technology >Civilian Vehicle Navigation: Required Alignment of the Inertial Sensors for Acceptable Navigation Accuracies
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Civilian Vehicle Navigation: Required Alignment of the Inertial Sensors for Acceptable Navigation Accuracies

机译：民用车辆导航：惯性传感器的对准要求，可接受的导航精度

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摘要

A vital necessity for any kind of inertial navigation system (INS) is the alignment of its axis with the vehicle body frame (VBF). Civilian vehicle navigation has strict requirements with respect to cost, size, reliability, and ease of implementation of the system. Microelectromechanical system (MEMS) inertial sensors have satisfied the cost and size requirements for civilian vehicle navigation; however, reliability and ease of implementation of these low-cost and miniaturized navigation systems are still parts of major research and investigation. This paper focuses on an important aspect of the ease of implementation for inertial sensors. From a civilian user perspective, accurately aligning the inertial system with respect to the vehicle, before every use, is not a desirable quality for a portable navigation system. In addition, it is not realistic to assume that even a careful user can achieve good alignment accuracy of the system. The purpose of this paper is to investigate the effects of misalignment errors that will produce errors in initial alignment and affect the navigation accuracy for two different inertial systems. The inertial systems are classified according to the number of sensors used in the system. The first system consists of three gyros and three accelerometers [full inertial measurement unit (IMU)], whereas the second system only has one gyro and two horizontal accelerometers (partial IMU).
机译：对于任何一种惯性导航系统（INS）来说，至关重要的是其轴线与车身框架（VBF）的对准。民用车辆导航在成本，尺寸，可靠性和系统易于实施方面有严格的要求。微机电系统（MEMS）惯性传感器已满足民用车辆导航的成本和尺寸要求；然而，这些低成本和小型化的导航系统的可靠性和易于实施仍是主要研究和调查的一部分。本文重点介绍惯性传感器易于实现的重要方面。从平民用户的角度来看，对于便携式导航系统而言，在每次使用之前将惯性系统相对于车辆精确对准并不是令人满意的质量。另外，假设即使是认真的用户也可以实现系统的良好对准精度，这是不现实的。本文的目的是研究未对准误差的影响，该误差会在初始对准中产生误差并影响两个不同惯性系统的导航精度。惯性系统根据系统中使用的传感器数量进行分类。第一个系统由三个陀螺仪和三个加速度计[全惯性测量单元（IMU）]组成，而第二个系统只有一个陀螺仪和两个水平加速度计（部分IMU）。

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