基于INS/GPS/磁力计的全组合导航
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摘要
针对惯性导航单独定姿、定位产生漂移的问题,提出了一种磁力计、GPS辅助惯性导航的组合导航系统。对磁力计、陀螺仪数据进行预处理;推导了基于误差四元数的定姿系统方程和量测方程,使用卡尔曼滤波器融合陀螺仪与磁力计数据。建立定位系统方程和量测方程,使用GPS量测值辅助惯导、校正位置、速度信息。实验验证结果表明:组合导航系统有效地改善了惯性导航漂移问题,同时在GPS失效情况下仍能正常工作。
Aiming at problem of drift produced by merely using inertial navigation in attitude determination and localization,an integrated navigation scheme applying magnetometer and GPS to aid inertial navigation is proposed. Magnetometer data and gyroscope data are preprocessed. Error-quaternion-based attitude determination system equation and measurement equation are derived,and the data of gyroscope and the magnetometer are fused by Kalman filter. Meanwhile the system equation and measurement equation of positioning system is established,calibrate position and velocity information,use GPS measurement value to aid inertial navigation. Results of experimental verification show that the integrated navigation system has improved the drift problem in inertial navigation effectually. At the same time,it can work properly on the occasion that GPS doesn't work.
Aiming at problem of drift produced by merely using inertial navigation in attitude determination and localization,an integrated navigation scheme applying magnetometer and GPS to aid inertial navigation is proposed. Magnetometer data and gyroscope data are preprocessed. Error-quaternion-based attitude determination system equation and measurement equation are derived,and the data of gyroscope and the magnetometer are fused by Kalman filter. Meanwhile the system equation and measurement equation of positioning system is established,calibrate position and velocity information,use GPS measurement value to aid inertial navigation. Results of experimental verification show that the integrated navigation system has improved the drift problem in inertial navigation effectually. At the same time,it can work properly on the occasion that GPS doesn't work.
引文
[1]秦永元.惯性导航[M].哈尔滨:哈尔滨工业大学,1999.
[2]王惠南. GPS导航原理与应用[M].北京:科学出版社,2003.
[3]孙枫,唐李军.基于Cubature Kalman Filter的INS/GPS组合导航滤波算法[J].控制与决策,2012,27(7):1032-1036.
[4]曹超,马磊,赵舵,等.基于ARM的移动机器人组合导航系统设计与实现[J].传感器与微系统,2013,32(2):102-104.
[5] Crassidis J L. Sigma-point Kalman filtering for integrated GPSand inertial navigation[J]. IEEE Transactions on Aerospace andElectronic Systems,2006,42(2):750-756.
[6]杨功流,李世心,姜朝宇.地磁辅助惯性导航系统的数据融合算法[J].中国惯性技术学报,2007,15(1):47-50.
[7]于婷,孙伟,文剑. MEMS惯性组件的误差特性分析与标定[J].传感技术学报,2016,29(6):859-864.
[8] Alonso R,Shuster M D. Complete linear attitude independentmagnetometer calibration[J]. Journal of the AstronauticalSciences,2002,50(4):477-490.
[9]方崇智.过程辨识[M].北京:清华大学出版社,2002.
[10]李杰,张文栋,刘俊.基于时间序列分析的Kalman滤波方法在MEMS陀螺仪随机漂移误差补偿中的应用研究[J].传感技术学报,2006,19(5B):2215-2219.
[11]秦永元.卡尔曼滤波与组合导航原理[M].西安:西北工业大学,1998.
[2]王惠南. GPS导航原理与应用[M].北京:科学出版社,2003.
[3]孙枫,唐李军.基于Cubature Kalman Filter的INS/GPS组合导航滤波算法[J].控制与决策,2012,27(7):1032-1036.
[4]曹超,马磊,赵舵,等.基于ARM的移动机器人组合导航系统设计与实现[J].传感器与微系统,2013,32(2):102-104.
[5] Crassidis J L. Sigma-point Kalman filtering for integrated GPSand inertial navigation[J]. IEEE Transactions on Aerospace andElectronic Systems,2006,42(2):750-756.
[6]杨功流,李世心,姜朝宇.地磁辅助惯性导航系统的数据融合算法[J].中国惯性技术学报,2007,15(1):47-50.
[7]于婷,孙伟,文剑. MEMS惯性组件的误差特性分析与标定[J].传感技术学报,2016,29(6):859-864.
[8] Alonso R,Shuster M D. Complete linear attitude independentmagnetometer calibration[J]. Journal of the AstronauticalSciences,2002,50(4):477-490.
[9]方崇智.过程辨识[M].北京:清华大学出版社,2002.
[10]李杰,张文栋,刘俊.基于时间序列分析的Kalman滤波方法在MEMS陀螺仪随机漂移误差补偿中的应用研究[J].传感技术学报,2006,19(5B):2215-2219.
[11]秦永元.卡尔曼滤波与组合导航原理[M].西安:西北工业大学,1998.