基于误差状态扩展卡尔曼滤波的GNSS/INS组合导航机载车载船载数据集  

GNSS/INS combined navigation airborne/vehicle borne/ship borne dataset based on error state extended Kalman filtering

作　　者：尹智慧 党龙飞 魏峥嵘 王胜利[2] YIN Zhihui;DANG Longfei;WEI Zhengrong;WANG Shengli(College of Geodesy and Geomatics,Shandong University of Science and Technology,Qingdao 266590,China;College of Ocean Science and Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学测绘与空间信息学院,青岛266590 [2]山东科技大学海洋科学与工程学院,青岛266590

出　　处：《全球定位系统》2025年第1期9-17,共9页Gnss World of China

基　　金：山东省重点研发计划(竞争性创新平台)项目(2023CXPT054)。

摘　　要：针对直接采用扩展卡尔曼滤波(extended Kalman filter,EKF)可能导致精度损失以及出现万向节死锁的情况,本文采用具有良好线性特性的基于误差状态扩展卡尔曼滤波(error state Kalman filter,ESKF)的方法进行GNSS与惯性导航系统(inertial navigation system,INS)组合导航解算,并将解算结果与高精度解算软件Inertial Explorer(IE)进行对比分析.为了验证方法的有效性,制作并公开了3组组合导航数据集,分别为车载、机载以及船载数据.该数据集的INS设备均采用霍尼韦尔的HG4930,GNSS数据的采样频率分别有车载的5 Hz和机载的1 Hz以及船载的10 Hz.本文将基于ESKF方法在公开的数据集上进行实验,并与IE软件得到的结果进行对比与分析.Aiming at the situation that the direct use of extended Kalman filter(EKF)may lead to the loss of accuracy and the possibility of universal joint deadlock,this paper uses the method of extended Kalman filter based on error state with good linear characteristics to solve the integrated navigation of global navigation satellite system(GNSS)/inertial navigation system(INS),and compares the solution results with the high-precision solution software.In order to verify the effectiveness of the method,this paper has produced and published three sets of integrated navigation data sets,which are vehicle-borne,airborne and ship-borne.The inertial navigation equipment of the data set is Honeywell’s HG4930,and the sampling frequency of GNSS data is 5 Hz on board,1 Hz on board and 10 Hz on board.In this paper,the method based on the error state extended Kalman filter(ESKF)is tested on the public data set,and the results are compared and analyzed with the results obtained by the high-precision solution software.Three sets of integrated navigation data sets have been uploaded to the journal system.

关 键 词：GNSS 惯性导航系统(INS) 扩展卡尔曼滤波(EKF) 公开数据集 误差状态扩展卡尔曼滤波(ESKF) 

分 类 号：P228.4[天文地球—大地测量学与测量工程]