GNSS/SINS组合导航的动基座初始对准  

Initial alignment of the moving base for GNSS/SINS combined navigation

作　　者：孙梦勃 唐诗华 李灏杨 刘坤之 宋晓辉 胡鹏程 SUN Mengbo;TANG Shihua;LI Haoyang;LIU Kunzhi;SONG Xiaohui;HU Pengcheng(School of Geomatics,Guilin University of Technology,Guilin 541006,China;Guangxi Key Laboratory of Spatial Information and Surveying and Mapping,Guilin 541006,China)

机构地区：[1]桂林理工大学测绘地理信息学院,广西桂林541006 [2]广西空间信息与测绘重点实验室,广西桂林541006

出　　处：《测绘通报》2024年第4期69-75,共7页Bulletin of Surveying and Mapping

基　　金：国家自然科学基金(42267040);广西自然科学基金(2022GXNSFBA035639);广西空间信息与测绘重点实验室开放基金(桂科能19-050-11-23);广西高校中青年教师科研基础能力提升项目(2023KY1199)。

摘　　要：针对传统的最优估计对准算法(OBA)无法应用于低成本INS中的问题,本文提出了一种结合扩展卡尔曼滤波的改进OBA算法,在GNSS的辅助下实现算法对姿态误差的估计,并使其能够应用于低成本SINS系统中。该算法首先重构参考向量和观测向量,以固定积分间隔抑制零偏的积累;然后通过建立陀螺仪零偏与姿态误差之间的联系,构建新的系统状态方程,并结合GNSS输出的位置与速度构建量测方程,同时对陀螺零偏和姿态误差进行估计,并将姿态误差反馈到多矢量的构建当中;最后在仿真试验与实际跑车试验中进行验证。试验结果表明,该算法与传统OBA算法相比,可以实现动基座快速对准,且可对陀螺零偏进行估计和失准角补偿,在载体处于长时间运动状态下提高了对准精度,不使用滑动窗口积分提高了收敛速度;与FIMA算法相比,3个姿态角精度分别提升了47%、47%、51%。Aiming at the problem that the traditional optimal estimation alignment algorithm(OBA)can not be applied to low-cost INS,this paper proposes an improved OBA algorithm combined with extended Kalman filtering,which realizes the estimation of attitude error with the assistance of GNSS and can be applied to low-cost SINS system.Firstly,the reference vector and observation vector are reconstructed,and the accumulation of bias is suppressed by a fixed integration interval.Secondly,by establishing the correlation between the bias of the gyroscope and the attitude error,a new system state equation is constructed,and the measurement equation is constructed based on the position and velocity of GNSS output.At the same time,the bias and attitude error of the gyro are estimated,and the attitude error is fed back into the construction of multiple vectors,and finally are verified in the simulation experiment and the actual sports car experiment.The experimental results show that compared with the traditional OBA algorithm,the algorithm can realize fast alignment of the moving base,estimate the bias of the gyro and compensate the misalignment angle,improve the alignment accuracy when the carrier is in a long-term motion state,and improve the convergence speed without using sliding window integration.Compared with the FIMA algorithm,the accuracy of the three attitude angles is improved by 47%,47%and 51%,respectively.

关 键 词：IMU 初始对准 动基座 扩展卡尔曼滤波 组合导航 

分 类 号：P228[天文地球—大地测量学与测量工程]