摘要
设计了微机电系统(Micro-Electro-Mechanical System,MEMS)个人惯性导航系统。该系统导航算法在传统惯导算法的基础上,引入零速校正技术,并结合个人的步行特点,首先采用四元数法构造观测方程,并使用毕卡算法的定时采样增量法对方程进行解算,然后通过扩展卡尔曼滤波算法获取惯性导航器件的姿态,采用零速检测算法和UD分解的卡尔曼滤波算法对速度、位置误差进行校正。最后,通过室内步行试验,验证了算法的有效性,为进一步研究提高室内导航精度奠定了基础。
Micro-Electro-Mechanical System(MEMS)personal inertial navigation system is designed.Based on the traditional inertial navigation algorithm,the system introduces zero speed correction technology and combines the characteristics of personal walking.First,the four elements method is used to construct the observation equation,and the time sampling increment method of the Bi card algorithm is used to solve the equation.Then the attitude of the inertial navigation device is obtained by extended Kalman filter algorithm.Zero speed detection algorithm and Kalman decomposition algorithm based on UD decomposition are used to correct velocity and position errors.Finally,the effectiveness of the algorithm is verified by indoor walking test,which lays the foundation for further research on improving indoor navigation accuracy.
作者
钱文高
陈静杰
马红岩
Qian Wengao;Chen Jingjie;Ma Hongyan(College of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China;Basic Experiment Center,Civil Aviation University of China,Tianjin 300300,China)
出处
《电子技术应用》
2018年第10期93-96,101,共5页
Application of Electronic Technique
关键词
个人导航
MEMS
扩展卡尔曼滤波
零速检测与校正
personal navigation
MEMS
extended Kalman Filter
zero-velocity detection and correction
