基于步进式运动模型的单兵协同导航算法设计

Design of the Cooperative Navigation Algorithm for Soldiers Based on Stepwise Motion Model

基于足部微惯性测量单元(MIMU)和超宽带测距的协同导航技术是一种解决卫星信号受限环境下单兵自主导航难题的有效途径。根据零速修正辅助的惯性解算特点,建立了一种单兵协同导航模型,协同导航状态为各单兵的位置和航向,系统输入为足部MIMU提供的每步位移和航向增量。将算法与相关文献中提出的两种算法进行了对比分析,该算法的优点是无需对足部惯导模块做任何改动和进行反馈修正,易于工程实现且不损失精度。通过三人协同导航试验分析了算法的性能,数据分析表明协同导航在不同条件下可以不同程度地改善系统的定位性能。

Cooperative navigation technology based on foot-mounted MIMU and UWB(ultra-wide banded)ranging is an effective solution to the problem of autonomous navigation of the soldiers in the GNSS-denied environment.A cooperative navigation model is proposed by analyzing the characteristics of the ZUPT aided inertial navigation.In the system model,the states are the positions and yaw angles of all the soldiers and the inputs are displacements and increments of yaw angles of each step provided by the foot-mounted MIMU.Comparisons are made between the proposed algorithm and the other two algorithms from the relevant literature.The advantage of the proposed algorithm is easy to be implemented since the cooperative navigation module does not require any modifications on the foot-mounted MIMU module.The performance of the algorithm is analyzed with a field experiment by three pedestrians.The data analysis shows that cooperative navigation can improve the positioning performance of the system to different extents under different conditions.