基于MIMU/磁传感器/双天线RTK的姿态测量方法研究

Research on attitude measurement method based on MIMU/magnetic sensor/dual antenna RTK

现今,惯性传感器加双天线RTK的组合测姿方法被广泛的应用于车载测姿领域,该方法集中了惯性传感器的快速更新速率特点和双天线RTK的高精确度的优点。针对当遇到高楼或者树林阻挡时卫星信号会丢失,导致双天线RTK(real time kinematic)无法提供可用的航向角,而惯性传感器又无法长时间保持航向角精度问题。本文尝试采用了一种基于微惯性测量单元(miniature inertial measurement unit,MIMU)与磁传感器与双天线RTK的信息融合方法。开展了实际跑车实验分析。得出了在卫星信号丢失的条件下本方法通过引入磁传感器提供航向信息,能够保证高精度车辆姿态数据的稳定输出。

Nowadays,the combined attitude measurement method of inertial sensor and dual antenna RTK(real time kinematic)is widely used in the field of vehicle attitude measurement.This method integrates the characteristics of rapid update rate of inertial sensor and the advantages of high accuracy of dual antenna RTK.When encountering high buildings or trees,the satellite signal will be lost,resulting in the dual antenna RTK unable to provide the available heading angle,and the inertial sensor cannot maintain the heading angle accuracy for a long time.This paper attempts to adopt an information fusion method based on micro inertial measurement unit miniature inertial measurement unit(MIMU),magnetic sensor and dual antenna RTK.The experimental analysis of the actual sports car is carried out.It is concluded that this method can ensure the stable output of high-precision vehicle attitude data by introducing magnetic sensors to provide heading information under the condition of satellite signal loss.