磁传感器辅助Reduced IMU/GPS可观测性研究  

Study on observability of Reduced IMU/GPS with magnetometer aiding

作　　者：蔚科 张云睿 张秋昭[1,2] 余章俊 YU Ke;ZHANG Yunrui;ZHANG Qiuzhao;YU Zhangjun(School of Environment and Spatial Informatics,China University of Mining and Technology,Xuzhou 221116,Jiangsu,China;Jiangsu Key Laboratory of Resources and Environment Information Engineering,China University of Mining and Technology,Xuzhou 221116,Jiangsu,China)

机构地区：[1]中国矿业大学环境与测绘学院,江苏徐州221116 [2]中国矿业大学江苏省资源环境信息工程重点实验室,江苏徐州221116

出　　处：《河南理工大学学报（自然科学版）》2022年第6期77-83,共7页Journal of Henan Polytechnic University（Natural Science）

基　　金：国家重点研发计划项目(2017YFE0119600);江苏省资源环境信息工程重点实验室开放基金资助项目(JS201904)。

摘　　要：为解决Reduced IMU组合导航系统可观性差的问题,运用基本运动微分方程分析Re-duced IMU/GPS组合导航系统参数的可估性,给出特定运动条件下部分参数不可估的原因。鉴于竖轴陀螺漂移误差与航向角误差强相关,提出将磁传感器新息更新值加入观测系数阵中,使航向角误差变为直接可测参数,并通过4组仿真试验定性、定量分析磁传感器辅助前后系统的可观测性。结果表明:不同运动条件下,采用磁传感器辅助前后Reduced IMU/GPS组合导航系统水平方向加速度计漂移误差均能快速收敛,引入磁传感器后,竖轴陀螺漂移误差可更快收敛至真值,竖轴陀螺漂移误差可观测度明显提升。In order to solve the problem of poor observability of the Reduced IMU/GPS integrated navigationsystem,the estimability of the parameters of Reduced IMU/GPS integrated navigation system was analyzedby means of basic differential equations of motion. And the reason why some parameters could not be esti-mated under specific motion conditions is given. In view of the strong correlation between the vertical axisgyro drift error and the heading angle error,it was proposed to add the new information update value of themagnetic sensor to the observation coefficient matrix. The heading angle error was turned into a directlymeasurable parameter to solve the problem of poor observability of the integrated navigation system causedby Reduced IMU. Finally,the method in this paper was verified qualitatively and quantitatively through foursets of simulation experiments. Experimental results showed that under different motion conditions,the hori-zontal accelerometer drift error of the front and rear integrated navigation system assisted by magnetic sensors could converge quickly. The drift error of the vertical axis gyroscope could converge to the true valuefaster after introducing the magnetic sensor. The spectral condition number observability method alsoshowed that the observability of the vertical axis gyro drift error had been improved considerably after theintroduction of the magnetic sensor.

关 键 词：Reduced IMU 可观测性 谱条件数 磁传感器辅助 组合导航系统 

分 类 号：P228[天文地球—大地测量学与测量工程]