利用伪观测取代精密转台的原地旋转调制寻北
North-seeking based on in-situ rotation-modulation using pseudo-observation scheme without precise turntable
牛小骥 1王强 1李由 2唐健1
作者信息
- 1. 武汉大学卫星导航定位技术研究中心,武汉430079
- 2. 武汉大学卫星导航定位技术研究中心,武汉430079;卡尔加里大学,加拿大卡尔加里T2N1N4
- 折叠
摘要
针对传统的多位置(如四位置)及旋转调制寻北法所需精密转位机构(如转台)带来的体积、重量、功耗和成本问题,提出了一种不依赖于精密机械旋转装置的原地寻北方法.借助基于惯性的组合导航算法,并利用惯性测量单元原地旋转(手动或自动)时位置和速度变化范围有限这一假设作为伪观测,实现与四位置法精度和效率相当的寻北.因为对伪观测的使用不需精确已知每一时刻IMU相对于底座的角度,故可从本质上消除对精密角度或角速度测量装置的依赖.大量(近100组)实测实验表明,在采用0.5(o)/h的光纤惯导时可在4 min内达到优于1°(1 sigma)的寻北精度.因此,可在寻北精度和时间相当的条件下,大大降低传统寻北方法对系统的硬件要求,降低寻北成本.
Abstract
Traditional multi-position (e.g.,four-position) and rotation-modulation based north-seeking methods require a sophisticated indexing mechanism (e.g.,a precise turntable),which results in high volume,weight,power consumption and costs.In this paper,an in-situ north-seeking method based on rotation-modulation is put forward,which does not rely on any precise mechanical rotation device.With the aid of an integrated inertial navigation algorithm,the proposed north-seeking method can realize such a north-seeking as its accuracy and efficiency are equivalent to those by the four-position method,in which it adopts such a pseudo-observation as the in-situ rotation of IMU is supposed to have limited position and speed variation.Since the pseudoobservation do not require precise IMU angle relative to the base during the whole north-seeking process,the precision angle and angular velocity measurement devices can be essentially eliminated.A large amount of tests (almost 100 groups) indicate that the accuracy can achieve ＜1° within 4 min when using an IMU equipped with fiber optic gyros that have a bias stability of less than 0.5 (°)/h,and the hardware requirement and costs can be significantly reduced compared with that by traditional north-seeking approaches.
关键词
寻北/卡尔曼滤波/旋转调制技术/伪观测信息/组合导航Key words
north-seeking/Kalman filter/rotation-modulation/pseudo-observation/integrated navigation引用本文复制引用
基金项目
中央高校基本科研业务费专项资金资助项目(2042014KF0258)
国家自然科学基金资助项目(41304004)
国家自然科学基金资助项目(41174028)
出版年
2015
NETL
NSTL
维普
万方数据