里程计标度因数受载车负载、轮胎变形、气压、温度等外部条件影响,在与激光惯导组合时易使定位误差发散。为解决此问题,建立了高阶卡尔曼滤波器,通过实时估计里程计标度因子误差及其安装误差,并进行补偿,大幅度提高组合导航精度。利用现有设备,进行了跑车测试,路面包括市区道路、一般国道、高速公路、泥石路等各种复杂路面条件,与目前常用组合导航方法相比,技术指标大幅度提高,一般定位导航误差最大值在30 m以内,可以较好满足载车对高精度导航的实时需求。

The scale factor of odometer is affected by vehicular load, distortion of tyre, air pressure, temperature, etc. The position error of laser gyro integrated navigation system based on odometer can diverge to infinity very quickly. By real-time estimating, the scale factor and the installation error with high-level Kalman filter and compensating, the accuracy of integrated navigation system is improved sharply. The results of vehicular running test by existing devices on condition of complex road surface including cantonal road, national highway, speedway and bolar road demonstrate that the navigation method can achieve the position accuracy which is less than 30 meters. It takes advantages over other integrated navigation method in technical functions and meets the need of high-precision vehicular navigation.