發(fā)布時(shí)間：2018-04-15 19:20

  本文選題：MEMS-SINS + ABS輪速傳感器��； 參考：《中國(guó)慣性技術(shù)學(xué)報(bào)》2017年02期

【摘要】：針對(duì)城市環(huán)境中GNSS因遮擋導(dǎo)致MEMS-SINS精度快速降低的問(wèn)題,在車輛運(yùn)動(dòng)學(xué)約束的基礎(chǔ)上,結(jié)合四通道ABS輪速傳感器和方向盤轉(zhuǎn)角信息,提出一種新的適用于陸地車輛的MEMS-SINS導(dǎo)航方法。該方法通過(guò)分析車輛轉(zhuǎn)彎和運(yùn)動(dòng)約束特性,構(gòu)建角速度和加速度觀測(cè)量,從而實(shí)現(xiàn)基于模型輔助的MEMS誤差在線補(bǔ)償;其次,ABS輪速信息與非完整約束條件結(jié)合可額外增加三維車體速度觀測(cè)量,進(jìn)一步維持衛(wèi)星失效時(shí)組合濾波器的量測(cè)更新。跑車實(shí)驗(yàn)表明,在GNSS信號(hào)頻繁丟失甚至長(zhǎng)時(shí)間無(wú)法定位時(shí),低精度MEMS慣性器件引起的快速誤差積累得到有效抑制,與經(jīng)典車體約束結(jié)合里程計(jì)算法相比,航向精度提高約70%,位置、速度精度也有相應(yīng)的提高,驗(yàn)證了算法的有效性。
[Abstract]:In order to solve the problem of fast reduction of MEMS-SINS precision caused by GNSS occlusion in urban environment, a new MEMS-SINS navigation method suitable for land vehicles is proposed based on the kinematics constraints of vehicle and the information of four-channel ABS wheel speed sensor and steering wheel rotation angle.Based on the analysis of vehicle turning and motion constraint characteristics, the angular velocity and acceleration measurements are constructed, and the on-line compensation of MEMS error based on model is realized.Secondly, the combination of ABS wheel speed information and nonholonomic constraints can increase the three-dimensional vehicle body velocity observation, and further maintain the measurement update of the combined filter when the satellite fails.Sports car experiments show that the fast error accumulation caused by low precision MEMS inertial devices is effectively suppressed when the GNSS signal is lost frequently or even can not be located for a long time, which is compared with the classical car body constraint combined with mileage calculation method.The accuracy of heading is improved by about 70, and the accuracy of position and velocity is improved accordingly, which verifies the validity of the algorithm.
【作者單位】： 北京理工大學(xué)自動(dòng)化學(xué)院;
【基金】：國(guó)家自然科學(xué)基金面上項(xiàng)目(61173076,61473042);國(guó)家自然科學(xué)基金重大研究計(jì)劃培育項(xiàng)目(91120003)
【分類號(hào)】：U463.67;U495
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本文編號(hào)：1755439