低成本MIMU车载组合导航联邦滤波算法

Low-cost MIMU Car Combination Navigation Federal Filtering Algorithm

针对基于MIMU的组合导航方案存在的复杂环境下姿态估计精度较差以及系统容错性较差等问题,设计了基于联邦滤波结构的MIMU/GNSS/MAG组合导航方案,通过仿真及车载试验验证了该方案的有效性。在此基础上,分析对比了有无故障检测及隔离的组合导航方案性能,通过仿真试验验证,进行有效的信息故障检测及隔离提高了该组合导航系统的输出精度和稳定性。

In view of the poor precision of attitude estimation and the poor fault tolerance of the system in the complex environ⁃ment of the combined navigation scheme based on MIMU,the MIMU/GNSS/MAG combination navigation scheme based on the fed⁃eral filter structure is designed,and the validity of the scheme is verified by simulation and on-board test.On this basis,the perfor⁃mance of the combination navigation scheme of fault detection and isolation is compared,and the effective information fault detec⁃tion and isolation are verified by simulation test,and the output accuracy and stability of the combined navigation system are im⁃proved.