【摘要】 全球导航卫星系统(GNSS)存在易遭屏蔽、易受干扰等缺点,故在GNSS信号缺失时,SINS系统的积累误差长时间得不到校正,传统的SINS/GNSS组合导航系统的导航性能迅速降低。当SINS采用微机电(MEMS)器件时,更是如此。为提高车载组合导航系统的导航精度,提出在GNSS信号拒止时,采用里程计(ODO)辅助SINS,并加以动态零速修正的方法,来提高系统的导航定位精度。跑车试验结果显示在GNSS短时拒止时,基于动态零速修正的SINS/ODO组合导航具有较高的导航定位精度。更多还原

【Abstract】 Global navigation satellite system( GNSS) is vulnerable to shielding and interference,then when the GNSS signal is missing,the accumulated errors of SINS system can not be corrected for a long time,and the navigation performance of traditional SINS/GNSS integrated navigation system is decreased rapidly. This is especially true when the SINS is MEMS device. In order to improve the navigation precision of the land-vehicle integrated navigation system,the method of adopting ODO to assist SINS and dynamic zero velocity update( DZUPT) is proposed,when the GNSS signal is invalid. The vehicle experiment results show that the SINS/ODO integrated navigation based on dynamic zero velocity update( DZUPT) has higher navigation and positioning precision in the case of GNSS short-time denial.更多还原