GNSS/INS组合导航中IMU参数设定与优化  

IMU parameter setting and optimization in GNSS/INS integrated navigation

作　　者：姚东雨 聂桂根[1] 樊静 张全[1] 牛小骥[1] YAO Dongyu;NIE Guigen;FAN Jing;ZHANG Quan;NIU Xiaoji(GNSS Research Center,Wuhan University,Wuhan 430079,China)

机构地区：[1]武汉大学卫星导航定位技术研究中心,武汉430079

出　　处：《导航定位学报》2024年第3期154-164,共11页Journal of Navigation and Positioning

基　　金：国家重点研发计划项目(2022YFB3903802);国家自然科学基金面上项目(42174024)。

摘　　要：针对惯性测量单元(IMU)参数设置不合理导致全球卫星导航系统(GNSS)/惯性导航系统(INS)组合导航无法充分发挥IMU性能的问题,提出了一套IMU参数设定与优化方案,建立了以GNSS短期中断期间导航漂移误差统计值、理论估计精度一致性以及IMU误差参数估计稳定性为评估对象的考核准则,使优化后的IMU参数可以确保GNSS/INS组合导航解算中状态预测方差阵的准确性,实现预测信息与观测信息权重合理分配,进而保障GNSS/INS组合导航最优性能。实测验证采用ADIS16465和ICM206022款典型车规级和消费级微机电(MEMS)IMU进行性能测试分析,测试结果表明:初始IMU参数与GNSS/INS组合导航算法适配度较低,无法得到最优组合导航结果;优化后,IMU参数在保障组合导航最优性能基础之上,也可实现理论估计精度与实际精度高度一致。Aiming at the problem that global satellite navigation system(GNSS)/inertial navigation system(INS)integrated navigation can not fully utilize the inertial measurement unit(IMU)due to unreasonable parameter settings of the IMU,this paper proposes an IMU parameter setting and optimization scheme,establishing evaluation criteria based on the statistical result of the navigation drift errors in GNSS short-term outages,the consistency of theoretical estimation accuracy level,and the stability of IMU error parameter estimation,so that the optimized IMU parameters can ensure the accuracy of the state prediction covariance matrix in GNSS/INS integrated navigation solutions,enabling proper weighting between predicted and observed information.This guarantees the optimal performance of GNSS/INS integrated navigation.Field test verification and analysis are conducted using two typical micro-electro-mechanical system(MEMS)IMUs,ADIS16465 and ICM20602,representing automotive-grade and consumer-grade IMUs,respectively.The test results demonstrate that the initial IMU parameters have a low match with the GNSS/INS integrated navigation algorithm,leading to suboptimal results in the integrated navigation.On the other hand,the optimized IMU parameters proposed in this paper not only guarantee optimal performance of the integrated navigation but also achieve high consistency between the theoretical estimation accuracy and the actual accuracy.

关 键 词：组合导航 惯性测量单元(IMU) 参数优化 权重分配 全球卫星导航系统(GNSS) 惯性导航系统(INS) 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计] P228[天文地球—大地测量学与测量工程]