激光与光电子学进展, 2016, 53 (10): 101201, 网络出版: 2016-10-12
基于光电扫描/捷联惯导系统的室内组合导航算法研究 下载: 561次
Indoor Integrated Navigation Algorithm Based on Photoelectric Scanning and Strapdown Inertial Navigation System
测量 光电扫描 捷联惯性导航系统 组合导航 卡尔曼滤波 时间序列分析 measurement photoelectric scanning strapdown inertial navigation system integrated navigation Kalman filtering time series analysis
摘要
提出了一种基于光电扫描和捷联惯性导航系统(SINS)的组合导航算法。基于实际测量结果,对车间测量定位系统(wMPS)动态测量数据进行时间序列分析,证明了wMPS动态测量误差可以通过一阶自回归过程建模。基于SINS的误差模型和wMPS动态测量误差的时间序列分析结果,建立了室内组合导航系统卡尔曼滤波模型,并进行了算法仿真实验。仿真结果表明,组合导航系统同时具有SINS的高数据率和wMPS的高精度,系统整体性能得到了极大提升。
Abstract
One algorithm for integrated navigation based on photoelectric scanning and strapdown inertial navigation system (SINS) is proposed. Based on the actual measurement results, the time series analysis of wMPS dynamic measurement data is established, and it is proved that a first-order autoregressive process can be applied to model the wMPS dynamic measurement errors. Based on the SINS error model and the time series analysis result of the wMPS dynamic measurement data, the Kalman filtering model of indoor integrated navigation system is established, and the algorithm simulation experiment is conducted. The simulation results indicate that the integrated navigation system simultaneously possess the advantages of high data rate of SINS and high precision of wMPS. The whole performance of this system is significantly enhanced.
王姣, 杨凌辉, 黄喆, 史慎东, 黄东. 基于光电扫描/捷联惯导系统的室内组合导航算法研究[J]. 激光与光电子学进展, 2016, 53(10): 101201. Wang Jiao, Yang Linghui, Huang Zhe, Shi Shendong, Huang Dong. Indoor Integrated Navigation Algorithm Based on Photoelectric Scanning and Strapdown Inertial Navigation System[J]. Laser & Optoelectronics Progress, 2016, 53(10): 101201.