轨道几何状态惯性检测系统零速姿态修正方法

为提高轨道几何状态惯性检测系统姿态精度,提出一种零速姿态修正方法,利用轨道几何状态惯性检测系统载体系横向及垂向速度为0的先验条件,构造Kalman滤波横向及垂向观测量。选用HT-50M型激光陀螺仪和JN-06A型石英挠性加速度计组成惯性导航系统,并进行现场检测试验。结果表明:在轨检仪连续工作300m情况下,零速姿态修正方法能够有效抑制惯性导航系统姿态误差增长,轨道检测精度提高2倍。

Zero velocity attitude correction for railway tracks geometry measurement by inertial system

In order to improve the attitude accuracy of railway track geometry status with inertial system,the horizontal and vertical zero-velocities of inertial system prior to a zero velocity correction method,that constructed the horizontal and vertical measurements of Kalman filtering.The inertial navigation system tested in practice was composed of HT-50M laser gyro and JN-06A flexible quartz accelerometer.The results demonstrated that the zero velocity attitude correction method can effectively suppress the attitude error growth of inertial system.The accuracy increases 2 times for the case of 300 m continuous inspection.