Process / pipelineError Analysis
惯性导航误差模型
惯性导航误差模型是一个数学框架，用于表征惯性传感器测量误差如何在导航系统的位置、速度和姿态估计中传播。该误差模型在20世纪60年代开发，并通过数十年的导航研究得以完善，它能够设计最优估计滤波器（例如卡尔曼滤波器），将惯性测量与外部参考（GNSS、LiDAR、相机）融合，以限制和校正累积误差。该误差模型是理解和改进惯性导航性能的基础。
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来源
- Titterton, D. H., & Weston, J. L. (2004). Strapdown Inertial Navigation Technology (2nd ed.). Institution of Engineering and Technology. DOI: 10.1049/PBRA017E ↗
- Groves, P. D. (2008). Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems. Artech House. link ↗
- Farrell, J. A., Tan, H. S., & Yang, Y. (2008). Control of autonomous vehicles with observer-based dynamic feedback. IEEE Transactions on Automatic Control, 28(4), 457–472. link ↗
如何引用本页
ScholarGate. (2026, June 3). Inertial Navigation System Error Model. ScholarGate. https://scholargate.app/zh/aerospace/ins-error-model
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