摘要
为了解决卫星信号被遮挡环境下MEMS-INS/GNSS组合导航漂移问题,对GNSS信号中断时的MEMS-INS/GNSS系统应如何抑制导航误差的漂移进行了研究。采用基于误差状态的EKF信息融合方法,灵活接入轮式或视觉里程计(OD)的速度约束,建立了一种MEMS-INS/GNSS/OD导航系统。在试验中,对比分析了加入AHRS和里程计信息对导航定位精度的影响。试验结果表明,在GNSS间断环境下,融合里程计能够克服卫星信号中断的影响,在GNSS中断30s时,相较于MEMSINS/GNSS导航系统,定位精度提高了89.70%,且加入AHRS方向约束,能够更好地抑制定位漂移。此外,接入视觉里程计的MEMS-INS/GNSS/OD系统比接入轮式里程计的系统精度提高了16.11%。
In order to solve the problem of MEMS-INS/GNSS integrated navigation drift in the environment where the satellite signal is blocked,how to suppress the drift of the navigation error when the GNSS signal is interrupted is studied.Using the EKF information fusion method based on the error state and flexibly accessing the velocity constraints of wheel or visual odometer(OD),a MEMS-INS/GNSS/OD navigation system is established.In the experiment,the influence of adding AHRS and odometer information on the accuracy of navigation and positioning is compared and analyzed.The test results show that in the GNSS intermittent environment,the fusion odometer can overcome the influence of the satellite signal interruption.When the GNSS is interrupted for 30s,the positioning accuracy is increased by 89.70%compared with the MEMS-INS/GNSS navigation system,and the AHRS direction constraint can better suppress positioning drift.In addition,the accuracy of the MEMS-INS/GNSS/OD system using the visual odometer is improved by 16.11%than that of the wheeled odometer.
作者
崔晓珍
周琪
武东杰
仲训昱
Cui Xiaozhen;Zhou Qi;Wu Dongjie;Zhong Xunyu(Xiamen University,Xiamen 361102,China;AVIC Xi’an Flight Automatic Control Research Institute,Xi’an 710065,China)
出处
《航空科学技术》
2022年第2期84-89,共6页
Aeronautical Science & Technology
基金
航空科学基金(201908068003)。
关键词
扩展卡尔曼滤波
卫星拒止环境
惯性导航系统
卫星定位系统
组合导航
extended Kalman filter
satellite-jamming environment
INS
satellite positioning system
integrated navigation