基于车辆状态的航向估计量测方程研究  

Research on a vehicle status based measurement equation for yaw estimation

作　　者：石岗[1,2,3] 李希胜[1,4] 白艳茹[1,5] 郑成才 舒雄鹰 Shi Gang;Li Xisheng;Bai Yanru;Zheng Chengcai;Shu Xiongying(School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China;College of Information and Control Engineering,China University of Petroleum（East China）,Qingdao 266580,China;Shengli College,China University of Petroleum,Dongying 257061,China;Beijing Engineering Research Center of Industrial Spectrum Imaging,Beijing 100083,China;School of Advaneed Engineering,University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]北京科技大学自动化学院,北京100083 [2]中国石油大学(华东)信息与控制工程学院,青岛266580 [3]中国石油大学胜利学院,东营257061 [4]北京市工业波谱成像工程技术研究中心,北京100083 [5]北京科技大学高等工程师学院,北京100083

出　　处：《仪器仪表学报》2018年第10期176-183,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金青年科学基金(61602041)项目资助

摘　　要：应用一种以单位四元数为状态向量的自适应卡尔曼滤波算法融合三轴陀螺、三轴加速度计及三轴磁传感器测量信号,实现了车辆航向估计。该算法根据磁干扰强度调整磁传感器量测在航向估计中的权重,从而减小磁干扰造成的估计误差,但这种做法也使航向预测值失去了有效约束,为此研究了一种基于车辆状态的量测方程。首先,依据单位四元数与航向角的关系推导了量测方程式;然后,利用不同传感器信号间的相关关系判断车辆状态并据此实现量测权重系数的自适应调整;最后,将该量测方程引入航向估计融合算法。在实验中分别应用引入新量测方程前后的融合算法对传感器数据进行处理,实验结果表明,新量测方程可以在发生磁干扰时继续发挥约束航向预测值的作用,从而有效提高了航向估计算法抗磁干扰能力。An adaptive Kalman filter algorithm that uses unit quaternion as state vector fuses the signals from triaxis gyroscope, triaxis accelerometer and triaxis magnetic sensor to realize vehicle yaw estimation. In magnetically disturbed environment, the algorithm adjusts the weight of the magnetic sensor measurement in yaw estimation according to the magnetic disturbance intensity so that the estimation error caused by magnetic disturbance is reduced. However, this method will make the yaw prediction to lose effective constraint. To address this problem, a new measurement equation based on the vehicle status is studied. Firstly, the measurement equation is derived according to the relationship between the unit quaternion and yaw. Secondly, according to the correlations among the output signals of different sensors the vehicle status is determined and the adaptive adjustment of measurement weight coefficients is realized. At last, the new measurement equation is incorporated into the yaw estimation fusion algorithm. In experiments, the fusion algorithms with and without incorporating the new measurement equation were used to process the real sensor data, and the experiment results show that the new measurement equation can perform the constraint action for the yaw prediction when magnetic disturbance occurs; therefore, the new measurement equation improves the anti-disturbance ability of the yaw estimation algorithm effectively.

关 键 词：航向估计 陀螺 加速度计 磁传感器 卡尔曼滤波器 四元数 

分 类 号：TH762.3[机械工程—仪器科学与技术] V241.611[机械工程—精密仪器及机械]