| 一种低动态高抖动环境下的GPS/INS紧组合方法 |
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| 引用本文： | 徐爱功,刘韬,隋心,郝雨时,杨东辉,郭哲,王长强.一种低动态高抖动环境下的GPS/INS紧组合方法[J].测绘科学,2018(2):1-5,29. |
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| 作者姓名： | 徐爱功 刘韬 隋心 郝雨时 杨东辉 郭哲 王长强 |
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| 作者单位： | 辽宁工程技术大学测绘与地理科学学院,辽宁阜新,123000
辽宁工程技术大学测绘与地理科学学院,辽宁阜新123000;武汉大学卫星导航定位技术研究中心,武汉430079 |
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| 基金项目： | 国家“863”计划资助项目，辽宁省教育厅创新团队项目，辽宁省教育厅科学研究一般项目，地理空间信息工程国家测绘地理信息局重点实验室经费资助项目 |
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| 摘 要： | 针对低动态高抖动环境下,影响GPS/INS紧组合精度的重要因素——惯性测量单元(IMU)数据中的噪声,该文提出利用小波降噪方法分离IMU数据中的噪声和有用信号以提高GPS/INS紧组合的精度。首先对IMU数据进行小波分解后得到的高频系数进行阈值量化处理,然后将GPS观测数据与降噪后的IMU数据进行GPS/INS紧组合解算,最终得到载体的导航信息。实例结果表明,该方法可以大幅提升GPS/INS紧组合的精度和稳定可靠性。
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| 关 键 词： | 低动态高抖动环境 小波降噪 GPS/INS紧组合 low dynamic and high jitter environment wavelet de-noising GPS/INS tightly coupled |
A method of GPS/INS tightly coupled in low dynamic and high jitter environment |
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| XU Aigong,LIU Tao,SUI Xin,HAO Yushi,YANG Donghui,GUO Zhe,WANG Changqiang.A method of GPS/INS tightly coupled in low dynamic and high jitter environment[J].Science of Surveying and Mapping,2018(2):1-5,29. |
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| Authors: | XU Aigong LIU Tao SUI Xin HAO Yushi YANG Donghui GUO Zhe WANG Changqiang |
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| Abstract: | The noise of inertial measurement unit(IMU)data is one of the significant factors which affects the precision of GPS/INS tightly coupled navigation in low dynamic and high jitter environment.In order to improve the precision of integrated navigation,an algorithm based on wavelet de-noising for GPS/INS tightly coupled navigation system was proposed to separate the noise and useful signal from IMU data.First,The IMU data were decomposed using wavelet from which the coefficients of high frequency were extracted,and the coefficients of high frequency were processed by threshold quantization,then the denoised IMU data and GPS raw data were resolved by using the method of GPS/INS tightly coupled,and finally got the navigation information of carrier.The test result indicated that this method could greatly improve the precision and stability of GPS/INS tightly coupled navigation. |
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