航向误差非线性预测的惯性行人导航零速修正算法  

Zero velocity update algorithm for inertial pedestrian navigation based on nonlinear prediction of heading error

作　　者：戴洪德 马宇峰 戴邵武 郑百东 张笑宇 DAI Hongde;MA Yufeng;DAI Shaowu;ZHENG Baidong;ZHANG Xiaoyu(School of Basic Sciences for Aviation,Naval Aviation University,Yantai 264001,China)

机构地区：[1]海军航空大学航空基础学院,山东烟台264001

出　　处：《系统工程与电子技术》2023年第8期2555-2561,共7页Systems Engineering and Electronics

基　　金：国防科技项目基金(F062102009);山东省自然科学基金面上项目(ZR2017MF036);山东省高等学校青年创新团队项目(2020KJN003)资助课题。

摘　　要：针对基于零速修正(zero velocity update,ZUPT)的行人导航算法无法对航向角进行观测导致航向角发散的问题,设计了一种基于ZUPT、零角速率修正和航向角误差非线性预测校正的惯性行人导航算法。首先通过广义似然比检测(generalized likelihood ratio test,GLRT)算法确定出零速区间;在检测到的零速区间内利用ZUPT算法构造速度误差观测量、利用零角速率修正(zero angular rate update,ZARU)算法构造角速率误差观测量,通过零速区间航向角误差观测模块构造航向角误差观测量,在非零速区间对航向角误差进行非线性预测;再利用卡尔曼滤波对零速区间内的速度、角速率、位置和航向角误差进行估计,利用估计误差对惯性行人导航系统进行误差修正;通过实际行人导航系统验证,在复杂运动状态下导航轨迹误差平均值仅为0.43 m,只占总路程的0.35%。在长航时行走的情况下导航误差仅为1.25%里程。所提算法无需增设其他传感器,无需限制行人的运动轨迹,具有良好的工程应用价值。Aiming at the problem that the pedestrian navigation algorithm based on zero velocity update(ZUPT)cannot observe the heading angle,which leads to the divergence of the heading angle,an inertial pedestrian navigation algorithm based on ZUPT,zero angular rate update,and nonlinear prediction correction of heading angle error is designed.Firstly,the zero speed interval is determined by the algorithm of generalized likelihood ratio test(GLRT).In the detected zero speed range,the ZUPT algorithm is used to construct the velocity error observation,the zero angular rate update(ZARU)algorithm is used to construct the angular rate error observation,the heading angle error observation is constructed through the heading angle error observation module in the zero speed range,and the heading angle error is predicted nonlinearly in the non-zero speed range.Then,Kalman filter is used to estimate the errors of velocity,angular velocity,position,and heading angle in the zero speed range,and the estimated errors are used to correct the errors of inertial pedestrian navigation.Through the verification of the actual pedestrian navigation system,the average error of the navigation trajectory in the complex motion state is only 0.43 m,accounting for 0.35%of the total distance.In the case of long endurance walking,the navigation error is only 1.25%of the mileage.The proposed algorithm does not need to add other sensors,and does not need to limit the movement trajectory of pedestrians.It has good engineering application value.

关 键 词：行人导航 零速检测 零速修正 零角速率修正 卡尔曼滤波 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计]