国防科技大学学报2025，Vol.47Issue(5)：86-93,8.DOI:10.11887/j.issn.1001-2486.25010039
车载SINS/1D-LDV杆臂误差在线标定算法
Online calibration algorithm of vehicle-mounted SINS/1D-LDV lever-arm error
摘要
Abstract
Aiming at the problem that the lever-arm velocity error between the measured speeds of 1D-LDV(one-dimensional laser Doppler velocimeter)and SINS(strapdown inertial navigation system)caused by their different installation positions in the vehicle-mounted integrated navigation systems composed of 1D-LDV and SINS,an online calibration algorithm based on Kalman filter was proposed to calibrate and compensate the mounting lever-arm.By introducing a reference point that maintains alignment between the velocity direction and the carrier's direction of motion during movement,the traditional lever-arm velocity error model was improved,so that it can accurately characterize the actual relationship between the measured velocities from the 1D-LDV and SINS.The vehicle experiment results show that the calibration algorithm can effectively calibrate the arm error between 1D-LDV and SINS.By using the 1D-LDV measured velocity(after lever-arm error compensation)and the gyroscopic data from the SINS to perform dead reckoning,the horizontal positioning errors in two experimental trials are reduced from8.80 m and 6.60 m to7.07 m and5.48 m respectively,demonstrating a moderate improvement in navigation and positioning accuracy.关键词
组合导航/一维激光多普勒测速仪/杆臂误差/标定算法Key words
integrated navigation/one-dimensional laser Doppler velocimeter/lever-arm error/calibration algorithm分类
信息技术与安全科学引用本文复制引用
张涛,聂晓明,周健,王琦,向志毅..车载SINS/1D-LDV杆臂误差在线标定算法[J].国防科技大学学报,2025,47(5):86-93,8.基金项目
湖南省自然科学基金资助项目(2021JJ30782) （2021JJ30782）
