基于加速度补偿的惯性行人导航非零速区间姿态估计CKF算法  

Nonzero velocity interval attitude estimation CKF algorithm based on acceleration compensation for inertial pedestrian navigation

作　　者：王希彬 戴洪德 全闻捷 王瑞 贾临生 WANG Xibin;DAI Hongde;QUAN Wenjie;WANG Rui;JIA Linsheng(School of Basic Science for Aviation,Naval Aviation University,Yantai 264001,China;Unit 92329 of the PLA,Huludao 125000,China)

机构地区：[1]海军航空大学航空基础学院,山东烟台264001 [2]中国人民解放军92329部队,辽宁葫芦岛125000

出　　处：《系统工程与电子技术》2023年第9期2894-2901,共8页Systems Engineering and Electronics

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

摘　　要：姿态估计是导航解算的基础,在基于足绑式惯性测量单元的行人导航系统中,由于足部运动加速度变化频繁且剧烈,使得常见的姿态融合算法精度下降。为了减小运动加速度对姿态解算的影响,通过数据分析定义了可以进行加速度补偿的拟合区间,在零速检测的基础上给出了拟合区间的判定方法,提出了对加速度计的输出进行一阶拟合补偿的方案,并设计了能完成后续行人导航姿态估计任务的容积卡尔曼滤波(cubature Kalman filter,CKF)算法,在非拟合区间则采用三子样旋转矢量法进行姿态更新。在数值仿真中,将所提算法与纯三子样旋转矢量法进行了对比分析,对算法精度进行了测试,在行人导航试验中验证了算法的有效性。试验结果表明,在行走过程中及出现较大运动加速度的情况下,加入加速度补偿的CKF姿态估计精度平均提高了35.3%。在矩形闭合路径试验中,起终点水平误差降低了56.3%,起终点高度误差降低了20.3%。Attitude estimation is the foundation of the navigation computation.In pedestrian navigation system based on foot-bound inertial measurement unit,due to the frequent and violent changes of foot motion acceleration,the accuracy of common attitude fusion algorithms is reduced.In order to reduce the impact of motion acceleration on attitude calculation,the fitting interval that can be used for acceleration compensation is defined through data analysis,the determination method of fitting interval based on zero-speed detection is given,and a first-order fitting compensation scheme is proposed for accelerometer output.The cubature Kalman filter(CKF)algorithm which can complete the subsequent pedestrian navigation attitude estimation task is designed,and the three-sample rotation vector method is used to update the attitude in the non-fitting interval.In the numerical simulation,the proposed algorithm is compared with the pure three-sample rotation vector method,and the accuracy of the algorithm is tested.The effectiveness of the algorithm is verified in the pedestrian navigation experiment.The experiment test results show that the accuracy of CKF attitude estimation with acceleration compensation increases by 35.3%on average in the case of large motion acceleration during walking.In the rectangular closed path test,the horizontal error of starting and ending points decreased by 56.3%,and the height error of starting and ending points decreased by 20.3%.

关 键 词：惯性导航 姿态估计 行人导航 容积卡尔曼滤波 加速度补偿 

分 类 号：U666.1[交通运输工程—船舶及航道工程]