基于误差四元数的单兵导航系统算法  

Algorithm for personal navigation system based on error quaternion

作　　者：于飞[1] 白红美[1] 叶攀[1] 高伟[1,2] 赵博[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学鞍山研究院,辽宁鞍山114000

出　　处：《传感器与微系统》2015年第9期148-150,共3页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51379047;51379047)

摘　　要：MEMS传感器在尺寸、价格和功耗方面的进步促进了单兵导航系统的发展。对基于MEMS的单兵导航系统,航向估计是GPS信号丢失情况下的一个基础性难题,准确的航向估计能有效抑制导航误差的漂移。为获得准确的航向信息,减小单兵定位误差,提出了基于误差四元数的数据融合算法,利用卡尔曼滤波算法估计误差四元数,并进行了场地实验以验证算法的有效性。结论证明:当步行距离为80 m时,定位误差小于总距离的3%。The progress of MEMS sensors technology in size,cost,and power consumption contributes to the development of personal navigation system. Attitude estimation has been a fundamental challenge in the GPSdenied environments for MEMS—based personal navigation system,and accurate heading estimation can effectively restrain drift of navigation error. To obtain accurate heading information and reduce the localization error,the data fusion algorithm based on error quaternion is proposed,and error quaternion is estimated using Kalman filtering algorithm,effectiveness of algorithm is verified by field experiments. Results indicate that the localization error can be reduced to 3 % of the total travelled distance,while walking distance is 80 m.

关 键 词：微机电系统 航向估计 误差四元数 数据融合 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]