| 面向低成本车载IMU的安装姿态估计 |
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| 引用本文： | 冯木榉,高迪,何文涛.面向低成本车载IMU的安装姿态估计[J].测绘通报,2020,0(6):67-70. |
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| 作者姓名： | 冯木榉 高迪 何文涛 |
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| 作者单位： | 1. 中国科学院微电子研究所, 北京 100020;2. 中国科学院大学, 北京 100049;3. 中国科学院大学微电子学院, 北京 100043 |
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| 基金项目： | 国家科技重大专项（2013ZX02310） |
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| 摘 要： | 车载IMU相对于车体的安装姿态信息是应用车辆非完整约束的必需条件，而车辆非完整约束可以有效解决GNSS信号长时间中断的情形下低成本INS+GNSS组合导航系统精度降低的问题。本文针对车载场景下的低成本消费级IMU，基于卡尔曼滤波和粒子滤波提出了一种估计IMU安装姿态的算法。该算法无需限制IMU相对于车体的姿态为小角度；随后，基于仿真平台对低成本消费级IMU进行建模，利用生成的若干组不同安装姿态的IMU数据对算法进行验证；最后进行车载测试。仿真结果和车载测试结果都表明，该算法可以准确地估计IMU相对于车体的安装姿态，对于低成本INS+GNSS组合导航系统精度的提高具有实际意义。
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| 关 键 词： | 安装姿态 车辆非完整约束 卡尔曼滤波 粒子滤波 组合导航 |
| 收稿时间： | 2019-08-12 |
A mounting-attitude estimation algorithm for low-cost vehicle IMU |
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| FENG Muju,GAO Di,HE Wentao.A mounting-attitude estimation algorithm for low-cost vehicle IMU[J].Bulletin of Surveying and Mapping,2020,0(6):67-70. |
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| Authors: | FENG Muju GAO Di HE Wentao |
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| Institution: | 1. Institute of Microelectronics of Chinese Academy of Sciences, Beijing 100020, China;2. University of Chinese Academy of Sciences, Beijing 100049, China;3. School of Microelectronics, University of Chinese Academy of Sciences, Beijing 100043, China |
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| Abstract: | The mounting-attitude values of IMU to vehicle is a necessary condition for applying the non-holonomic constraints of vehicle, and such constraints can effectively solve the problem of precision reducing of the low-cost INS/GNSS integrated navigation system, when the GNSS signal is interrupted for a long time. This paper proposes an algorithm for estimating the mounting-attitude of the low-cost consumer-grade IMU based on Kalman filtering and particle filtering in the scene of vehicle, which does not need to limit that the attitude of the IMU to the vehicle is a small angle. Subsequently, based on the simulation platform, a low-cost consumer-grade IMU is modeled, and the algorithm is verified by using the generated IMU data of different sets of different mounting-attitude. Finally, an on-board test was conducted. Both the simulation results and the on-board test results show that the algorithm can accurately estimate the mounting-attitude of the IMU relative to the vehicle, which has a practical significance for the improvement of precision of low-cost INS/GNSS integrated navigation system. |
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| Keywords: | mounting-attitude non-holonomic constraints of vehicle Kalman filtering particle filtering integrated navigation |
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