基于双MIMU速度+角速率匹配的行人自主导航方法  

Autonomous pedestrian navigation method based on dual-MIMU velocity&angular rate matching

作　　者：苗宏胜 李海军 孙伟 蒋荣 MIAO Hongsheng;LI Haijun;SUN Wei;JIANG Rong(Beijing Institute of Automatic Control Equipment,Beijing 100074,China)

机构地区：[1]北京自动化控制设备研究所,北京100074

出　　处：《中国惯性技术学报》2023年第1期7-13,共7页Journal of Chinese Inertial Technology

基　　金：国防科技重点实验室基金项目(61425060203)。

摘　　要：针对基于零速修正(ZUPT)的行人导航系统航向误差随时间发散导致定位精度差的问题,提出了一种基于自适应零速检测与双MIMU速度+角速率匹配的行人自主导航方法。在一套自主系统中同时包含两种三轴MIMU,一套大量程MIMU用于保证原始惯性数据的完整性,一套高精度MIMU用于提供角速率基准。当高精度MIMU数据未超量程时,若基于SVM的自适应零速检测算法判断系统为零速状态,采用速度+角速率匹配方案;若系统为非零速状态,则采用角速率匹配方案,通过卡尔曼滤波器对各项误差进行估计和修正,提高系统的航向和定位精度。试验结果表明,相较于仅采用速度匹配,采用所提方法,航向精度达到了3.44°/30 min,提升了50%以上;定位精度达到了4.92 m/30 min,提升了40%以上。Aiming at the problem that the heading error of pedestrian navigation system based on ZUPT is not convergent in time which leads to the poor positioning accuracy,an autonomous pedestrian navigation method based on adaptive zero-speed detection dual-MIMU velocity&angular rate matching is proposed.Two kinds of 3-axis MIMUs are both included in an autonomous system,a wide-range MIMU is used to guarantee the original inertial data integrity and a high precision MIMU is used to provide angular rate reference.While the data of high-accuracy MIMU is not overrange,if the SVM-based adaptive zero velocity detection algorithm determines that the system is in zero velocity status,the velocity&angular rate matching method will be adopted;otherwise,if the system is in non-zero velocity status,the angular rate matching method will be adopted.The errors are estimated and corrected by Kalman filter to improve the heading and positioning accuracy of the system.The experimental results show that the heading error of the proposed method is reduced to 3.44°/30 min by more than 50%and the positioning error is reduced to 4.92 m/30 min by more than 40%compared with the velocity matching method.

关 键 词：角速率匹配 零速修正 行人导航 微惯性测量单元 

分 类 号：U666.1[交通运输工程—船舶及航道工程]