噪声协方差自适应控制下的双天线GNSS/INS初始对准方法

doi:10.11947/j.AGCS.2018.20170316

测绘学报 ›› 2018, Vol. 47 ›› Issue (4): 473-479.doi: 10.11947/j.AGCS.2018.20170316

噪声协方差自适应控制下的双天线GNSS/INS初始对准方法

郝雨时, 徐爱功, 隋心, 王长强

辽宁工程技术大学, 辽宁阜新 123000

收稿日期:2017-06-25 修回日期:2017-12-10 出版日期:2018-04-20 发布日期:2018-05-02
通讯作者: 徐爱功 E-mail:xu_ag@126.com
作者简介:郝雨时(1990-),男,博士生,研究方向为高精度室内外无缝定位。E-mail:kinghaoys@163.com
基金资助:
国家重点研发计划（2016YFC0803102）；辽宁省高等学校创新团队项目（LT2015013）；国家重点实验室高校合作项目（KX162600035）

Two-antenna GNSS Aided-INS Alignment Using Adaptive Control of Filter Noise Covariance

HAO Yushi, XU Aigong, SUI Xin, WANG Changqiang

School of Geomatics, Liaoning Technical University, Fuxin 123000, China

Received:2017-06-25 Revised:2017-12-10 Online:2018-04-20 Published:2018-05-02
Supported by:
The National Key Research and Development Program of China(No. 2016YFC0803102);The Program for Colleges and Universities Innovative Research Team of Liaoning Province(No. LT2015013);The State Key Laboratory University Cooperation Project(No. KX162600035)

摘要/Abstract

摘要： 为降低系统模型误差及观测模型误差的影响，结合噪声协方差自适应控制机制，对双天线GNSS/INS初始对准方法进行改进。利用噪声协方差自适应控制下的扩展卡尔曼滤波进行数据处理，包括系统噪声协方差控制及观测噪声协方差控制。试验结果表明，系统噪声协方差自适应控制机制可提高系统稳定性，降低滤波稳态值；观测噪声协方差自适应控制机制可降低观测噪声的影响，提高对准绝对精度。采用后处理的方式，利用基线长度偏差最小的基线结果辅助姿态解算，绝对精度进一步提高，对准绝对精度主要受观测值影响。利用本文方法，横滚角、俯仰角对准绝对精度可达0.02°，航向角对准绝对精度可达0.04°。

关键词: 双天线GNSS/INS初始对准, 系统噪声自适应控制, 观测噪声自适应控制, 基线向量偏差, 姿态误差

Abstract: This paper developed a theory of INS fine alignment in order to restrain the divergence of yaw angle,two antennas GNSS aided-INS integrated alignment algorithm was utilized.An attitude error measurement equation was conducted based on the relationship between baseline vectors calculated by two sensors and attitude error.The algorithm was executed by EKF using adaptive control of filter noise covariance.The experimental results showed that stability of the integrated system was improved under the system noise covariance adaptive control mechanism;The measurement noise covariance adaptive control mechanism can reduce the influence of measurement noise and improve the alignment absolute accuracy;Further improvement was achieved under the condition of minim bias of baseline length.The accuracy of roll and pitch was 0.02°,the accuracy of yaw was 0.04°.

Key words: two-antenna GNSS-SINS alignment, adaptive control of system noise, adaptive control of measurement noise, difference of baseline vector, attitude error

中图分类号:

P228

郝雨时, 徐爱功, 隋心, 王长强. 噪声协方差自适应控制下的双天线GNSS/INS初始对准方法[J]. 测绘学报, 2018, 47(4): 473-479.

HAO Yushi, XU Aigong, SUI Xin, WANG Changqiang. Two-antenna GNSS Aided-INS Alignment Using Adaptive Control of Filter Noise Covariance[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(4): 473-479.

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噪声协方差自适应控制下的双天线GNSS/INS初始对准方法

Two-antenna GNSS Aided-INS Alignment Using Adaptive Control of Filter Noise Covariance

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