低成本传感器数据融合技术辅助iPhone导航研究  

Research on data fusion technology assisted iPhone navigation of low-cost sensor

作　　者：洪海斌[1,2] 郭杭[1] 郭俊鸽 方爽[1] 滕长胜 

机构地区：[1]南昌大学信息工程学院,江西南昌330031 [2]中测新图(北京)遥感技术有限责任公司,北京100039

出　　处：《传感器与微系统》2014年第6期34-37,共4页Transducer and Microsystem Technologies

基　　金：科技部国际科技合作资助项目(2010DFA7090);国家自然科学基金资助项目(41164001)

摘　　要：多传感器数据融合辅助iPhone导航研究的是一个基于IMU/GPS/磁力计的联合解算导航算法,即将手机中加速度计测量到的比力信息与陀螺仪测量到的角速率信息通过扩展卡尔曼滤波技术进行融合。针对低成本传感器的特性,设计了相对应的初始对准方法。在GPS/INS组合阶段,通过添加载体坐标系下左右方向和竖直方向的载体速度为观测量来增加系统的可观测性,从而达到对状态量的更优估计,最终通过反馈校正得到较为精确的载体位置、速度和姿态信息。The research of muhi-sensor data fusion assisted iPhone navigation is trying to find a combined solving navigation algorithm which are operated by IMU/GPS/magnetometer, this method are put specific that is measured by accelerometer and angular rate that is measured by gyroscopes together by using extend Kalman filtering technology. Corresponding initial alignment methods are designed aiming at low-cost sensor characteristics. Vertical and left-right body speed are added as the measurements to increase observability of system in the stage of GPS and INS combination, so as to achieve a better estimation of quantity of state, and obtain more accurate position, velocity and attitude information through feedback correction ultimately.

关 键 词：多传感器数据融合 扩展卡尔曼滤波 初始对准 载体速度 

分 类 号：P228[天文地球—大地测量学与测量工程]