基于GPS/INS/磁力计多传感器融合的连续定位  

Continuous Positioning Based on Multi-Sensor Fusion of GPS/INS/magnetometer

作　　者：侯秀丽[1] 徐宝国[2] 周颖 王冬生 陆永杰 HOU Xiuli;XU Baoguo;ZHOU Ying;WANG Dongsheng;LU Yongjie(School of Information and Artificial Intelligence,Anhui Business College of Vocational Technology,Wuhu Anhui 241002,China;School of Instrument Science and Engineering,Southeast University,Nanjing Jiangsu 210096,China;School of Automation,Nanjing University of Posts and Telecommunication,Nanjing Jiangsu 210023,China)

机构地区：[1]安徽商贸职业技术学院信息与人工智能学院,安徽芜湖241002 [2]东南大学仪器科学与工程学院,江苏南京210096 [3]南京邮电大学自动化学院、人工智能学院,江苏南京210023

出　　处：《传感技术学报》2020年第9期1320-1326,共7页Chinese Journal of Sensors and Actuators

基　　金：安徽省高校自然科学研究重点项目(KJ2018A0723);国家自然科学基金项目(61673114)。

摘　　要：许多场景都需要准确的连续定位。全球定位系统(GPS)能提供准确的定位、导航和时间服务,但其信号易受干扰,导致在隧道、地铁和地下停车场等环境中性能下降甚至无法使用的情况,提出了一种基于GPS/INS/磁力计多传感器融合的连续定位方法,在应用磁力计和惯性导航系统(INS)组合室内定位时,磁力计数据可对INS累积误差进行有效校正。室外用GPS定位,当GPS信号较弱时,磁力计和INS的组合信号用于更新定位。为降低GPS信号噪声,采用卡尔曼滤波器对GPS和INS的组合信号进行滤波;针对磁力计易受环境干扰现象,提出一种利用磁力计动态计算和校正航向角的方法。测试结果表明,与未校正的航向角相比,多传感器融合的连续定位方法精度提高了60%,整体定位轨迹误差在2 m以内。Many application scenarios require accurate continuous positioning.The Global Positioning System(GPS)can provide accurate positioning,navigation and time services,but its signals are vulnerable to interference,resulting in performance degradation or even inability to use in tunnels,subways,underground parking lots and other environments,a continuous positioning method based on GPS/INS/magnetometer multi-sensor fusion is proposed.When magnetometer and inertial navigation system(INS)are used for indoor positioning,magnetometer data can effectively correct INS accumulated error.Outdoor GPS positioning is used.The combined signal of magnetometer and INS can be used to update positioning when the GPS signal is weak.In order to reduce the noise in GPS signals,Kalman filter is used to filter the combined signals of GPS and INS.Since the magnetometer is susceptible to environmental interference,a method of dynamically calculating and correcting the heading angle using magnetometer is proposed.The test results show that the accuracy of the multi-sensor fusion continuous positioning method is improved by 60%compared with the uncorrected heading angle,and the error of overall positioning trajectory is within 2 m.

关 键 词：全球定位系统 连续定位 多传感器融合 卡尔曼滤波 惯性导航系统 磁力计 

分 类 号：TU273.3[建筑科学—建筑设计及理论] TN967.2[电子电信—信号与信息处理]