| 一种新的车载低成本MEMS陀螺仪快速初始对准算法 |
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| 引用本文： | 白征东,辛浩浩,程宇航,陈波波,黎奇.一种新的车载低成本MEMS陀螺仪快速初始对准算法[J].测绘通报,2020,0(8):65-70. |
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| 作者姓名： | 白征东 辛浩浩 程宇航 陈波波 黎奇 |
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| 作者单位： | 清华大学土木工程系, 北京 100084 |
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| 摘 要： | 车载导航系统常用惯性测量元件（IMU）与全球卫星导航系统（GNSS）技术组合以提高系统的稳定性。由于车载导航系统的应用场景限制，对初始对准速度有着较高要求。为了提高传统车载组合导航系统中低成本微机电系统（MEMS）陀螺仪的初始对准速度，降低初始对准过程中的计算量，本文提出了一种适用于任意失准角下的基于网络RTK辅助与无损Kalman滤波（UKF）的MEMS陀螺仪初始对准算法。同时针对车载系统的特点，简化了IMU系统误差方程，分析了简化带来的误差。在诺瓦泰ProPak6和诺瓦泰IMU-IGM-S1组成的导航系统中验证了本文提出的算法。试验结果表明，在以诺瓦泰双天线GNSS输出航向角为"真值"的情况下，本文提出的算法基本可以在5 s内完成陀螺仪的初始对准，对准精度达0.3°。
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| 关 键 词： | 初始对准 微机电系统 车载导航 网络RTK IMU |
| 收稿时间： | 2019-11-22 |
A novel rapid initial alignment algorithm for vehicular low-cost MEMS gyroscope |
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| BAI Zhengdong,XIN Haohao,CHENG Yuhang,CHEN Bobo,LI Qi.A novel rapid initial alignment algorithm for vehicular low-cost MEMS gyroscope[J].Bulletin of Surveying and Mapping,2020,0(8):65-70. |
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| Authors: | BAI Zhengdong XIN Haohao CHENG Yuhang CHEN Bobo LI Qi |
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| Institution: | Department of Civil Engineering, Tsinghua University, Beijing 100084, China |
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| Abstract: | In vehicle navigation system, the global satellite navigation system (GNSS) is commonly combined with inertial measurement unit (IMU) to improve the system stability. Due to the limitation of application scenarios, there is a higher requirement for the initial alignment speed in vehicle navigation systems. In order to improve the speed of initial alignment algorithm for low-cost micro-electro-mechanical system (MEMS) gyroscope used in vehicle navigation system, and reduce the calculation capacity, this paper puts forward a new method for MEMS gyroscope initial alignment based on network real time kinematics (RTK) assistance and unscented Kalman filter (UKF). Based on the features of vehicle navigation, it is simplified the gyroscope error model and analyzed the error caused by the simplification. The algorithm is tested on the vehicle navigation system composed by NovAtel ProPak6 GNSS receiver and NovAtel IMU-IGM-S1. Using heading angle calculated by dual-antenna GNSS receiver as ground truth, the proposed algorithm can be finished in 5 s and the heading angle accuracy is 0.3°. |
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| Keywords: | initial alignment micro-electro-mechanical system (MEMS) vehicle navigation network RTK IMU |
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