扩展基于卡尔曼波器的可靠滚角估计方法用于车辆
Lu Feng1,2, Peng Wu3,2,4, Linhua Zheng1
1College of Electronic Science and Technology, National University of Defense Technology, Changsha, 410073, China.
Heliyon
|September 10, 2024
概括
本研究介绍了一种使用全球导航卫星系统 (GNSS) 信号来准确测量车辆滚动角度的强大方法,即使信号中断. 与传统方法相比,新方法显著提高了精度.
科学领域:
- 工程 工程师 工程师 工程师
- 地理学就是地质学.
- 导航系统 导航系统
背景情况:
- 车辆姿势测量对于运动监测和安全至关重要.
- 旋转运动使态度角度合复杂化,影响导航和控制.
- 由于循环锁损失,现有的全球导航卫星系统 (GNSS) 方法经常在不连续的信号功率下失败.
研究的目的:
- 为使用GNSS信号的车辆开发一个可靠的滚角估计方法.
- 为了应对在态度测量中不连续的信号接收的挑战.
- 为了提高车辆滚角估计的准确性和稳定性.
主要方法:
- 一种使用Tukey重量函数用于GNSS信号功率的可靠估计方法.
- 分析GNSS信号特征和信号功率和滚动角度之间的几何关系.
- 在旋转平台上使用单贴贴天线GNSS接收器进行实验验证.
主要成果:
- 与传统的最小平方 (LS) 方法相比,提出的强大估计方法显著提高了滚角的准确性.
- 估计误差为6.57° (68%的信心) 和15.49° (95%的信心),而LS则为11.38°和37.31°.
- 算法的准确性独立于车辆的旋转速度,证明了它的稳定性.
结论:
- 强大的估计方法提高了车辆滚角测量的准确性,特别是在粗度测量误差和不连续的信号接收的情况下.
- 拟议的算法提供了高精度和稳定的滚角估计,适合各种车辆动态.
- 基于GNSS的态度测量可以通过先进的信号处理技术变得更加可靠.
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