测绘通报 ›› 2026, Vol. 0 ›› Issue (8): 28-34.doi: 10.13474/j.cnki.11-2246.2026.0805

• 位置服务与应用 • 上一篇    下一篇

车载IMU安装角快速精确估计方法

陈刚1, 张海军1, 凌创伟2, 赵英雄2, 汪博2, 杨人东1, 郑科1, 丁磊1, 王勇1   

  1. 1. 国电长源汉川第一发电有限公司, 湖北 孝感 432300;
    2. 武汉煜炜光学科技有限公司, 湖北 武汉 430200
  • 收稿日期:2025-12-11 发布日期:2026-09-12
  • 通讯作者: 张海军。E-mail: 695687371@qq.com
  • 作者简介:陈刚(1974—),男,高级工程师,研究方向为发电运行。E-mail: 13387598615@163.com

Fast and accurate estimation method for the installation angle of on-board inertial measurement unit

Chen Gang1, Zhang Haijun1, Ling Chuangwei2, Zhao Yingxiong2, Wang Bo2, Yang Rendong1, Zheng Ke1, Ding Lei1, Wang Yong1   

  1. 1. Guodian Changyuan Hanchuan No. 1 Power Generation Co., Ltd., Xiaogan 432300, China;
    2. Kyle Optics Technology Co., Ltd., Wuhan 430200, China
  • Received:2025-12-11 Published:2026-09-12

摘要: [目的] 本文旨在解决车载惯性测量单元(IMU)安装角的标定问题。[方法] 本文提出了一种车载IMU安装角快速估计方法,该方法利用车辆直线运动时的运动学特性,通过IMU载体坐标系下的速度直接解析计算安装角,无需预先解算轨迹。[结果] 试验结果表明,对于战术级IMU,该方法得到的航向安装角和俯仰安装角精度分别为0.039°、0.019°。[结论] 理论分析与仿真试验证明,该方法支持安装角的在线实时快速精确估计,适用于需频繁标定IMU安装角或采用实时运动学约束的车载导航系统。

关键词: 安装角估计, 惯性测量单元, 实时估计

Abstract: [Purposes] To aim at the calibration of the inertial measurement unit (IMU)mounting angles for vehicle-mounted systems. [Methods] This paper proposes a rapid estimation method for vehicular IMU mounting angles.The method leverages the kinematic characteristics of the vehicle during straight-line motion,enabling the direct analytical calculation of the mounting angles using the velocity in the IMU body frame,without requiring prior trajectory computation. [Findings] Experimental results demonstrate that,for a tactical-grade IMU,the accuracies for the heading and pitch mounting angles are 0.039° and 0.019°,respectively. [Conclusions] Theoretical analysis and simulation experiments demonstrate that the method supports online,real-time,fast,and accurate estimation of the mounting angles,making it suitable for vehicular navigation systems that require frequent IMU mounting angle calibration or employ real-time kinematic constraints.

Key words: mounting angle estimation, inertial measurement unit, real-time estimation

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