摘要
针对低动态高抖动环境下,影响GPS/INS紧组合精度的重要因素——惯性测量单元(IMU)数据中的噪声,该文提出利用小波降噪方法分离IMU数据中的噪声和有用信号以提高GPS/INS紧组合的精度。首先对IMU数据进行小波分解后得到的高频系数进行阈值量化处理,然后将GPS观测数据与降噪后的IMU数据进行GPS/INS紧组合解算,最终得到载体的导航信息。实例结果表明,该方法可以大幅提升GPS/INS紧组合的精度和稳定可靠性。
The noise of inertial measurement unit（IMU）data is one of the significant factors which affects the precision of GPS/INS tightly coupled navigation in low dynamic and high jitter environment.In order to improve the precision of integrated navigation,an algorithm based on wavelet de-noising for GPS/INS tightly coupled navigation system was proposed to separate the noise and useful signal from IMU data.First,The IMU data were decomposed using wavelet from which the coefficients of high frequency were extracted,and the coefficients of high frequency were processed by threshold quantization,then the denoised IMU data and GPS raw data were resolved by using the method of GPS/INS tightly coupled,and finally got the navigation information of carrier.The test result indicated that this method could greatly improve the precision and stability of GPS/INS tightly coupled navigation.
出处
《测绘科学》
CSCD
北大核心
2018年第2期1-5,29,共6页
Science of Surveying and Mapping
基金
国家"863"计划资助项目(2014AA123101)
辽宁省教育厅创新团队项目(LT2015013)
辽宁省教育厅科学研究一般项目(L2013141)
地理空间信息工程国家测绘地理信息局重点实验室经费资助项目(201522)
关键词
低动态高抖动环境
小波降噪
GPS/INS紧组合
low dynamic and high jitter environment
wavelet de-noising
GPS/INS tightly coupled
