基于SE2(3) /EKF的改进初始调整方法,用于具有较大的误调角度的SINS/GNSS集成导航系统
Jin Sun1,2, Yuxin Chen3, Bingbo Cui4,5
1College of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing 210003, China.
Sensors (Basel, Switzerland)
|May 11, 2024
概括
本研究引入了一种改进的初始对齐方法,用于紧固式惯性导航系统/全球导航卫星系统 (SINS/GNSS) 集成系统. 新方法提高了准确性和速度,特别是在具有较大的初始失调角度的系统中.
科学领域:
- 导航系统工程 导航系统工程
- 控制理论 控制理论
- 机器人技术 机器人技术 机器人技术
背景情况:
- 与全球导航卫星系统 (GNSS) 集成的紧式惯性导航系统 (SINS) 对于准确的定位至关重要.
- 传统的初始调整方法与较大的初始误调角度作斗争,影响性能.
- 准确的状态错误表征对于强大的SINS/GNSS集成至关重要.
研究的目的:
- 为面对较大的失调角度的SINS/GNSS集成系统开发改进的初始调整方法.
- 为了提高初始对齐过程的准确性和速度.
- 在具有挑战性的调整场景中解决传统方法的局限性.
主要方法:
- 使用三维特殊欧几里德群和扩展的卡尔曼波器 (SE(3) /EKF) 框架.
- 模型将错误 (态度,速度,位置) 作为Lie组的元素来准确量化非线性错误.
- 包含一个组向量混合误差模型,考虑陀螺仪和加速度计的零偏差误差.
- 导出了GNSS辅助的SINS动态初始对齐算法,利用速度和位置测量不变.
主要成果:
- 基于SE(3) /EKF的对齐方法在具有较大的误对齐角度的场景中显示出更高的准确性.
- 实现了将态度误差快速降低到较低的水平.
- 提出的方法有效地克服了与传统对齐技术相关的挑战.
结论:
- 拟议的基于SE(3) /EKF的初始调整方法为具有较大的失调角度的SINS/GNSS系统提供了卓越的性能.
- 谎组理论为导航系统中状态错误的建模和量化提供了一个强大的框架.
- 该方法提高了对齐速度和准确性,使其适用于苛刻的应用.
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