本文選題：室內(nèi)導(dǎo)航　切入點(diǎn)：插值濾波　出處：《壓電與聲光》2017年03期 　論文類型：期刊論文

【摘要】：在室內(nèi)行人導(dǎo)航中,為獲取精確的航向角,提出了一種基于二階插值濾波的航向估計(jì)算法。該算法通過(guò)建立四元數(shù)姿態(tài)運(yùn)動(dòng)測(cè)量模型,采用二階插值濾波對(duì)陀螺儀、加速計(jì)和磁強(qiáng)計(jì)的測(cè)量數(shù)據(jù)進(jìn)行數(shù)據(jù)融合,實(shí)現(xiàn)航向角解算,以過(guò)程噪聲和測(cè)量噪聲為設(shè)計(jì)參數(shù),構(gòu)造自適應(yīng)噪聲協(xié)方差矩陣,實(shí)現(xiàn)協(xié)方差誤差估計(jì)最小化。通過(guò)對(duì)行走長(zhǎng)方形參考路徑得到的數(shù)據(jù)進(jìn)行處理,加速計(jì)和磁強(qiáng)計(jì)組合與陀螺儀航向估計(jì)算法動(dòng)態(tài)誤差分別為13.6°和6.9°,采用二階插值濾波航向估計(jì)算法后動(dòng)態(tài)誤差為2.3°。實(shí)驗(yàn)結(jié)果表明,該算法有效提高了航向估計(jì)的精度,減小了陀螺儀漂移、載體的線性加速度和周圍局部磁場(chǎng)干擾對(duì)航向估計(jì)的影響。
[Abstract]:In order to obtain accurate heading angle in indoor pedestrian navigation, a heading estimation algorithm based on second-order interpolation filter is proposed, which establishes quaternion attitude motion measurement model and adopts second-order interpolation filter for gyroscope. The measurement data of accelerometer and magnetometer are fused to realize the calculation of heading angle. Taking process noise and measurement noise as design parameters, the adaptive noise covariance matrix is constructed. The covariance error estimation is minimized by processing the data obtained from the walking rectangular reference path. The dynamic errors of the accelerometer and magnetometer combined with gyroscope are 13.6 擄and 6.9 擄, respectively, and the dynamic error is 2.3 擄after using the second-order interpolation filtering algorithm. The experimental results show that the algorithm can effectively improve the accuracy of the course estimation. The gyroscope drift, the linear acceleration of the carrier and the interference of the surrounding local magnetic field on the course estimation are reduced.
【作者單位】： 西安郵電大學(xué)電子工程學(xué)院;
【基金】：陜西省科技統(tǒng)籌創(chuàng)新工程計(jì)劃資助項(xiàng)目(2014KTCQ01-21) 西安郵電大學(xué)研究生創(chuàng)新基金資助項(xiàng)目(CXL2015-38)
【分類號(hào)】：TN96

【參考文獻(xiàn)】

相關(guān)期刊論文 前7條

1 傅忠云;朱海霞;孫金秋;劉文波;;基于慣性傳感器MPU6050的濾波算法研究[J];壓電與聲光;2015年05期

2 宋宇;翁新武;郭昕剛;;基于四元數(shù)EKF算法的小型無(wú)人機(jī)姿態(tài)估計(jì)[J];吉林大學(xué)學(xué)報(bào)(理學(xué)版);2015年03期

3 李金鳳;王慶輝;劉曉梅;曹順;;基于MEMS慣性器件的行人室內(nèi)定位系統(tǒng)[J];計(jì)算機(jī)測(cè)量與控制;2014年11期

4 張勇剛;張?jiān)坪?李寧;;基于互補(bǔ)濾波器的MEMS/GPS/地磁組合導(dǎo)航系統(tǒng)[J];系統(tǒng)工程與電子技術(shù);2014年11期

5 田增山;張媛;;基于智能手機(jī)MARG傳感器的行人導(dǎo)航算法[J];重慶郵電大學(xué)學(xué)報(bào)(自然科學(xué)版);2014年02期

6 趙鶴;王U哤，

本文編號(hào)：1609379