不同惯导系统零速检测算法的性能分析  

Performance Analysis of Different Zero Velocity Detection Algorithms in Inertial Navigation Systems

作　　者：石波[1] 李耀宗[1] 程敏[1] 杨伟彬[1] 

机构地区：[1]山东科技大学测绘科学与工程学院,山东青岛266590

出　　处：《山东科技大学学报（自然科学版）》2016年第2期57-63,共7页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：国家科技支撑计划课题(2012BAB16B01);海洋公益性行业科研专项经费项目(201305034);车载移动测量系统中传感器间空间关系精密检校方法研究项目(J13LH04)

摘　　要：分别使用四种零速检测算法,检验了不同精度两种惯性导航系统的检测性能,通过绘制载体速度时间图像、检测的零速折线图以及检测统计量变化曲线图,分析了车载实验下不同惯导系统相同零速检测算法之间、不同零速检测算法相同惯导系统之间各曲线变化。结果表明,相同的零速检测算法对性能较好的惯导系统检测的零速时段精度更高;而对于相同的惯导系统使用不同的零速检测算法,通过对比广义似然比检测结果和角速度量测能量检测结果发现,零速检测过程中提供最可靠信息的是陀螺信号。This paper discussed the detection performance of four zero-velocity detection algorithms with two sets of Inertial Navigation System（INS）of different precisions.By drawing velocity-time image,zero velocity line chart and statistical quantity curve chart,it analyzed the variation of curves between different inertial navigation systems with the same zero velocity algorithm and between different zero velocity algorithms with the same inertial navigation system.The results show that the zero velocity detection of the same algorithm is more accurate for an INS with better performance,while for a specified INS with different zero velocity detection algorithm,the gyro signal provides the most reliable information in zero velocity detection,as indicated by the comparison between the results of the generalized likelihood ratio test and the angular rate measurement energy test.

关 键 词：惯性导航系统 阈值 NEYMAN-PEARSON准则 零速检测 零速折线图 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]