A fading memory gyro error compensation method based on road conditions

PEI Dong; SHENG Wei

doi:10.13873/j.1000-97872013.03.008

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A fading memory gyro error compensation method based on road conditions

更新时间：2025-09-11

- A fading memory gyro error compensation method based on road conditions
- Vol. 32, Issue 3, Pages: 29-32(2013)
- 作者机构：
  
  北京航空航天大学仪器科学与光电工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872013.03.008
  CLC： U463.6
- Published：2013
- 稿件说明：
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[1]裴东,盛蔚.一种基于路况的渐消记忆陀螺误差补偿方法[J].传感器与微系统,2013,32(03):29-32.

PEI Dong, SHENG Wei. A fading memory gyro error compensation method based on road conditions[J]. 2013, 32(3): 29-32.
[1]裴东,盛蔚.一种基于路况的渐消记忆陀螺误差补偿方法[J].传感器与微系统,2013,32(03):29-32. DOI： 10.13873/j.1000-97872013.03.008.

PEI Dong, SHENG Wei. A fading memory gyro error compensation method based on road conditions[J]. 2013, 32(3): 29-32. DOI： 10.13873/j.1000-97872013.03.008.

摘要

针对GPS/DR组合导航系统在汽车直行和转弯时速率陀螺误差特性不同的情况

提出了一种基于路况的渐消记忆陀螺误差补偿方法。这种方法在GPS信号正常时根据路况不同实时计算陀螺刻度因子误差;当GPS丢星时

用GPS正常时计算的刻度因子误差补偿速率陀螺。在实际工程应用中

用此方法补偿低成本GPS/DR组合导航系统的陀螺误差后再进行EKF容错滤波

在GPS丢星后一段时间内

仍能保持较好的导航精度。

Abstract

Aiming at different characteristics of the rate gyro error of GPS/DR navigation system in straight and turning situation

a fading memory gyro error compensation method based on road conditions is proposed.When GPS signal is normal

the gyro scale factor error is calculated in real-time depending on the road situation;the obtained scale factor error calculated in the normal case is used to compensate rate gyro error when the GPS is lost.After the gyro error of GPS/DR system is compensated

the extended Kalman filtering（EKF） method is put forward for fault-tolerant filtering.Good navigation precision can still be kept after GPS is lost in a period of time.

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references

车辆定位导航系统[M]. 中国铁道出版社 , 富立,范耀祖编著, 2004

组合导航系统[M]. 哈尔滨工程大学出版社 , 孙枫等编著, 1996

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