Research On The Navigation Algorithm Of Crawler Positioning Based On Constraints Of Motion

The crawler navigation technology provides the important guarantee for the military crawler-weapon and the civil crawler-vehicle to complete the engineering task.At present,the crawler mostly adopts the traditional inertial navigation or the satellite navigation.So it is difficult to solve the problem of error accumulation of inertial navigation and the deficiency of satellite signal.Considering the motion constraints of the crawler combined with the use of low-cost Micro Inertial Measurement Unit(MIMU),we designed navigation algorithm of crawler positioning based on constraints of motion.It will reduce the system cost and improve vehicle navigation accuracy significantly without stopping.The main research work includes:(1)Combined with periodic zero-speed characteristics of the track during the running of the vehicle,the MIMU strapdown inertial navigation system based on the track was designed,and the navigation error can be continuously corrected without stopping.(2)The zero-speed detection algorithm for the tracked vehicle navigation application was optimized.The vertical acceleration information and the short-time invariance of the driving state were used as the constraints of the detector.The effectiveness of the optimization algorithm was verified by experiments.In the case of the state,a zero-speed detection optimization algorithm capable of being compatible with various driving states was designed.(3)The Kalman filter algorithm based on zero-speed observation was studied.The velocity error and angular rate error in the zero-speed interval were used as observations to correct the navigation system error.(4)The algorithms of this paper were verified by multiple experiments.Designed experiments to verify the effectiveness of several zero-speed detection optimization algorithms,and compared their advantages and disadvantages and applicable conditions.The system comprehensive experiment was designed,through the outdoor closed-loop route and the up-down slope test.The navigation error correction algorithm was verified,and the optimal positioning error was less than 1% of the stroke.