GPS与INS组合的便携式轨道类游乐设施轨迹研究  

Research on trajectory of track amusement facilities based on GPS and INS

作　　者：黄辉琼 项辉宇[1] 孙九增 HUANG Huiqiong;XIANG Huiyu;SUN Jiuzeng(College of Artificial Intelligence,Beijing Technology and Business University,Beijing 100048,China)

机构地区：[1]北京工商大学人工智能学院,北京100048

出　　处：《智能计算机与应用》2023年第2期41-46,52,共7页Intelligent Computer and Applications

摘　　要：为检测轨道类游乐设施运行速度和轨迹,利用安卓智能手机内置的惯性导航系统(INS)、卫星导航系统(GPS)进行轨道类游乐设施运行加速度、角速度等数据进行采集分析;采用捷联惯性导航系统,建立轨道类游乐设施轨迹姿态解算模型,以卡尔曼滤波器为基础,在Matlab软件中构建松耦合模式的组合导航系统,对INS输出的速度、位置数据进行校正;在试验场地对游乐设施数据进行采集并进行处理,基于UG NX二次开发实现轨道游乐设施姿态信息显示、轨迹拟合。实验结果验证了使用安卓智能手机内置的INS\GPS组合导航系统采集轨道类游乐设施数据、运行轨迹的可行性,弥补了轨道类游乐设施姿态和轨迹测量相关研究的不足。In order to detect the running speed and trajectory of orbital amusement facilities,the built-in inertial navigation system(INS)and satellite navigation system(GPS)of Android smart phones are used to collect and analyze data such as acceleration and angular velocity of orbital amusement facilities.Strapdown inertial navigation system establishes a trajectory and attitude calculation model for orbital amusement facilities.A loosely coupled navigation system based on Kalman filter is built to correct the speed and position data output by INS.We collect and process the amusement facility data at the test site and the attitude information display and trajectory fitting of the track amusement facilities are realized based on the secondary development of UG NX.The feasibility of the integrated navigation system with built-in INS\GPS in Android smart phone for collecting data and running trajectories of orbital amusement facilities is verified,which makes up for the lack of related research on attitude and trajectory measurement of orbital amusement facilities.

关 键 词：游乐设施 GPS 惯性导航 组合导航 卡尔曼滤波 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TP311[自动化与计算机技术—计算机科学与技术]