履带装甲车辆里程计刻度系数在线辨识方法研究

Online-Identification of Odometer’s Scale Factor in Tracked Armored Vehicles Based on LMS Algorithm

摘要:

在履带装甲车辆SINS/OD组合导航系统中，里程计的刻度系数对导航结果的精确性有着至关重要的影响。为满足作战部队对履带装甲车辆快速、机动的标定要求，提高SINS/OD车载组合导航系统的导航精度，首先对里程计与惯导系统之间的安装误差角进行了标定。将变遗忘因子最小二乘法与限定记忆最小二乘法相结合，利用GPS的量测速度对里程计刻度系数进行了在线辨识。为检验辨识方法的可靠性，进行了实车实验，利用辨识结果进行了航位推算，并与GPS的定位结果进行了对比。实车实验表明，该辨识方法可以得到较高精度的定位结果，对于车体运动状态及行车路况发生变化等情况具有较强的跟踪性能；对标定路段的路况要求较低，具有很好的工程应用价值，符合作战部队的实际需求。

Abstract:

In SINS/OD integrated navigation system of tracked armored vehicles, the scale factor of the odometer has an important influence on the precision of the navigation results. In order to improve the navigation precision of the SINS/OD integrated navigation system, the installation error angles between the odometer and the inertial navigation system is calibrated, then the fadeout memory LMS algorithm and restricted memory LMS algorithm are combined to identify the odometer’s scale factor on line in this paper. Real vehicle experiments show that the identification results are of high reliability, which have a strong tracking performance for the changing of vehicles’ states of motion or the road conditions. The scheme has lower requirements for the road conditions in calibration,which meets the actual needs of the combatStroops.