基于低成本MEMS惯性器件的车载短时导航算法研究
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摘要
针对车载INS/GPS组合导航系统中当GPS信号受到干扰失锁时,INS会继续对载体提供定位信息,而低成本MEMS惯性器件会出现随着时间精度变低的问题,因此研究分析一种动态零速修正算法。利用行车时车体横向和天向速度为零为卡尔曼滤波约束条件,并对安装误差及转弯时向心力进行补偿。车载试验表明在120 s内的行车中定位精度得到提高。
Aiming at the vehicle INS/GPS navigation system when the GPS signal was lost because of disturbed,INS continued to provide the carrier location information,and the low cost MEMS inertial devices precision would be low with time,so the dynamic zero velocity update algorithm was studied and analyzed.By using the horizontal and vertical velocity was zero for Kalman filtering constraints,and the installation error and centripetal force during the turn were compensated.Tthe vehicle test shows that the position precision is improved in 120 seconds driving.
Aiming at the vehicle INS/GPS navigation system when the GPS signal was lost because of disturbed,INS continued to provide the carrier location information,and the low cost MEMS inertial devices precision would be low with time,so the dynamic zero velocity update algorithm was studied and analyzed.By using the horizontal and vertical velocity was zero for Kalman filtering constraints,and the installation error and centripetal force during the turn were compensated.Tthe vehicle test shows that the position precision is improved in 120 seconds driving.
引文
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[2]姜博文,王可东.低成本车载组合导航在GPS失效时的算法设计[J].传感技术学报,2017,30(3):412-417.
[3]刘伟,张泽,曾培香,等.高精度陆用惯导零速修正技术研究[J].导航与控制,2013,12(2):29-32.
[4]李博文,姚丹亚.低成本车载MEMS惯导导航定位方法[J].中国惯性技术学报,2014,22(6):719-723.
[5]赵玉,赵忠,范毅.零速修正技术在车载惯性导航中的应用研究[J].压电与声光,2012,34(6):843-847.
[6]付强文,秦永元,李四海,等.车辆运动学约束辅助的惯性导航算法[J].中国惯性技术学报,2012,20(6):640-643.
[7]王新龙.捷联式惯导系统动、静基座初始对准[M].西安:西北工业大学出版社,2013.
[8]钱华明,夏全喜,阙兴涛,张强.基于Kalman滤波的MEMS陀螺仪滤波算法[J].哈尔滨工程大学学报,2010,31(9):1217-1221.
[9]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,2015.
[10]严恭敏,李四海,秦永元.惯性仪器测试与数据分析[M].北京:国防工业出版社,2015.
[11]严恭敏.车载自主定位定向系统研究[D].西安:西北工业大学,2006.
[12]杜瑾,李杰,罗丹瑶,等.高动态GPS/INS组合导航中时间延迟软硬件补偿算法研究[J].传感技术学报,2016,29(12):1858-1863.