不受姿态误差影响的惯性/磁感应融合定位方法  

An inertial magnetic-induction positioning fusion method independent of attitude errors

作　　者：李新年 李清华[1] 王常虹[1] 郑元勋 王振桓[1] 夏子权 LI Xinnian;LI Qinghua;WANG Changhong;ZHENG Yuanxun;WANG Zhenhuan;XIA Ziquan(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China;NORINCO GROUP,Aviation Ammunition Institute,Harbin 150030,China)

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150001 [2]中国兵器工业集团航空弹药研究院,哈尔滨150030

出　　处：《中国惯性技术学报》2022年第4期469-475,共7页Journal of Chinese Inertial Technology

基　　金：航空科学基金项目(20175877011)。

摘　　要：针对传统电磁信标导航定位系统中由惯性元件解算磁传感器姿态误差导致定位性能下降问题,提出了一种不受传感器姿态影响的改进惯性/磁感应定位融合定位方法,避免了姿态误差对定位结果的影响。首先,基于磁信标磁场分布规律与特征矢量构建了与传感器姿态无关的非线性磁感应定位模型;然后,结合惯性元件对载体目标的状态估计提出了改进的惯性/磁感应定位模型,降低了累计误差、提高了定位精度与结果的输出速度;最后,利用无迹卡尔曼滤波(UKF)对融合数据进行处理,实现对动态目标的位置估计。分别通过实验和仿真验证了不受姿态影响的磁感应定位模型以及惯性/磁感应定位方法的有效性。实验结果表明磁感应定位模型能够不受传感器姿态误差的影响实现定位;数值仿真结果表明惯性元件解算姿态辅助磁信标定位方法的最大误差为7.29 m,基于改进的惯性/磁感应融合定位方法最大误差0.77 m。To solve the problem of magnetic beacon positioning systems usually affected by the attitude of the sensor,an improved inertial magnetic-induction positioning approach is proposed to avoid the effects of attitude errors achieved from IMU.Firstly,A nonlinear magnetic-induction positioning model independent of the magnetic sensor attitude is raised with the distribution law of magnetic beacon and magnetic feature.Then,an improved inertial magnetic induction positioning model with high output update frequency is proposed combining with the state estimation of the carrier target by inertial elements,which reduces the cumulative error and improves the positioning accuracy.Finally,the Unscented Kalman Filter(UKF)is applied in the fused data to estimate the position of the moving target.The availability of the magnetic-induction approach is tested by a magnetic beacon positioning system,and the performance of the inertial magnetic-induction model is explored by numerical simulation.The experimental results demonstrate that the magnetic induction localization model can realize localization without the influence of sensor attitude error.The numerical simulation results show that the maximum error of the attitude-assisted magnetic beacon positioning method based on inertial element is 7.29 m,and the maximum error of the proposed model estimated by UKF is 0.77 m.

关 键 词：磁感应定位 惯性/磁场融合定位 室内定位 磁信标定位 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]