Error feedback strategy of strapdown fiber optic POS system in vehicle dynamic environment

Xiaoliang Wang; Wenlong Zuo; Bin Hou; Zheng Yang; Zhenjing Luo

doi:10.1117/12.2691220

6 November 2023 Error feedback strategy of strapdown fiber optic POS system in vehicle dynamic environment

Xiaoliang Wang, Wenlong Zuo, Bin Hou, Zheng Yang, Zhenjing Luo

Proceedings Volume 12921, Third International Computing Imaging Conference (CITA 2023); 129212X (2023) https://doi.org/10.1117/12.2691220
Event: Third International Computing Imaging Conference (CITA 2023), 2023, Sydney, Australia

Abstract

Process initial alignment and azimuth estimation algorithm is an important technology of the land vehicle Strapdown Optical Fiber Positioning and Orientation System (SOFPOS). The initial alignment of the vehicle is easily affected by the maneuvering environment such as turning and the noise of the odometer, especially when turning sharply, the alignment accuracy of the optical fiber system will be reduced. Firstly, this paper analyzes the principle of odometer lever arm error and the measurement compensation method in the SOFPOS. A comprehensive physical model based on the longitudinal lever arm and the left and right lateral lever arms is proposed, and the odometer lever arm error model is also simulated. Then, the lever arm error is estimated by Kalman filter, and the odometer lever arm error is compensated. Finally, the compensation is applied to the initial alignment and azimuth estimation algorithm during the journey, and the experimental verification is completed by combining the hardware-in-the-loop simulation. The test results show that the alignment accuracy and positioning accuracy of the positioning and orientation system can be effectively improved by estimating and compensating the error of the odometer lever arm, and the environmental applicability of the land vehicle optical fiber positioning and orientation system can be improved.

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Xiaoliang Wang, Wenlong Zuo, Bin Hou, Zheng Yang, and Zhenjing Luo "Error feedback strategy of strapdown fiber optic POS system in vehicle dynamic environment", Proc. SPIE 12921, Third International Computing Imaging Conference (CITA 2023), 129212X (6 November 2023); https://doi.org/10.1117/12.2691220

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KEYWORDS

Error analysis

Navigation systems

Fiber optics

Matrices

Optical alignment

Alignment modeling

Accelerometers

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