基于智能手机的船载组合导航算法  

Shipboard integrated navigation algorithm based on smartphone

作　　者：白腾飞 柴洪洲[1] 田祥雨 郑乃铨 蔡莹莹 BAI Tengfei;CHAI Hongzhou;TIAN Xiangyu;ZHENG Naiquan;CAI Yingying(Institute of Geospatial Information,Strategic Support Force Information Engineering University,Zhengzhou 450001,China;32069 Troops,Beijing 100091,China)

机构地区：[1]战略支援部队信息工程大学地理空间信息学院,河南郑州450001 [2]32069部队,北京100091

出　　处：《海洋测绘》2023年第6期51-55,共5页Hydrographic Surveying and Charting

基　　金：国家自然科学基金(42074014)。

摘　　要：智能手机内置丰富的传感器激发了无处不在的导航应用,但目前智能手机组合导航研究多集中于陆地环境,对水上及海洋环境的研究较少。为此,设计了一种以GNSS、加速度计、陀螺仪组合导航为主,磁力计、气压计为辅的多种传感器融合算法,以实现智能手机船载场景下的高精度定位导航,提出了一种智能手机磁力计转弯检测的方法,构建了顾及船只运动状态的噪声自适应运动约束模型,同时引入了磁力计和气压计外部观测等约束信息。基于船载实测数据进行分析,结果表明:基于磁力计测量值的转弯检测成功率高达96.94%;相较于未加约束的松组合算法,本文算法平面位置精度可达到1.29 m,提升12.24%,航向精度可达到1.75°,提升50.28%,基本满足船只的定位导航需求。The abundance of built-in sensors in smartphone has inspired ubiquitous navigation applications,but most of the current smartphone integrated navigation research is focused on terrestrial environments,with less research on water and marine environments.In this paper,we design a multi-sensor fusion algorithm based on GNSS,accelerometer and gyroscope integrated navigation,supplemented by magnetometer and barometer to achieve high-precision positioning and navigation in shipboard scene of smartphones,propose a method to detect turning motion based on the magnetometer data of smartphone,and construct a noise adaptive motion constraint model based on ship motion state,then introduce the magnetometer-based yaw constraint and barometer-based altitude constraint.By analyzing the data on shipboard,the experiments show that the success rate of magnetometer-based turning detection is as high as 96.94%.Compared with the traditional algorithm without constraint information,the horizontal accuracy of the proposed algorithm can reach 1.29m,which is improved by about 12.24%,and the yaw accuracy can reach 1.75°increasing by about 50.28%,basically meeting the positioning and navigation requirements of ships.

关 键 词：组合导航 船载场景 智能手机 运动约束 转弯检测 

分 类 号：P228.4[天文地球—大地测量学与测量工程]