[1]王坚,李增科,高井祥,等.基于EMD-小波随机消噪模型的GPS/INS组合导航[J].东南大学学报(自然科学版),2012,42(3):406-412.[doi:10.3969/j.issn.1001-0505.2012.03.003]
 Wang Jian,Li Zengke,Gao Jingxiang,et al.EMD-wavelet based stochastic error reducing model for GPS/INS integrated navigation[J].Journal of Southeast University (Natural Science Edition),2012,42(3):406-412.[doi:10.3969/j.issn.1001-0505.2012.03.003]
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基于EMD-小波随机消噪模型的GPS/INS组合导航()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
42
期数:
2012年第3期
页码:
406-412
栏目:
测绘与导航
出版日期:
2012-05-20

文章信息/Info

Title:
EMD-wavelet based stochastic error reducing model for GPS/INS integrated navigation
作者:
王坚12 李增科12 高井祥12 王金岭3
1 中国矿业大学国土环境与灾害监测国家测绘局重点实验室, 徐州 221116; 2 中国矿业大学环境与测绘学院, 徐州 221116; 3 澳大利亚新南威尔士大学测绘与空间信息学院, 澳大利亚悉尼2052
Author(s):
Wang Jian12 Li Zengke12 Gao Jingxiang12 Wang Jinling3
1 Key Laboratory for Land Environment and Disaster Monitoring of SBSM, China University of Mining and Technology, Xuzhou 221116,China
2 School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China
3 School of Surveying and Spatial Information System, University of New South Wales, Sydney 2052, Australia
关键词:
GPS/INS组合导航 经验模态分解 小波变换 随机误差
Keywords:
GPS/INS(global positioning system/inertial navigation system)integrated navigation empirical mode decomposition wavelet transform stochastic error
分类号:
P228.4
DOI:
10.3969/j.issn.1001-0505.2012.03.003
摘要:
为提高GPS/INS组合导航精度,提出了EMD-小波INS随机误差削弱模型.首先分析了GPS/INS组合系统的误差特点,给出组合导航的基本原理.基于EMD的多尺度结构,结合小波分解理论,提出基于EMD-小波的GPS/INS组合导航技术路线.采集新南威尔士大学校园内的实测数据,分别选用1 s与2 s的GPS采样信息和100 Hz的INS数据,进行融合试验.用随机模型消噪前后的INS数据计算导航解,并与GPS测量的位置进行比较,分析误差分布情况.结果表明,滤波后的INS自主导航解要优于滤波前.当GPS更新周期为1 s时,X,Y,Z方向上导航精度分别提高9.07%, 13.89%, 35.14%,残差最大值分别减小2.62%, 19.54%, 31.23%.当GPS更新周期为2 s时,X,Y,Z方向上导航精度分别提高17.82%, 23.46%, 22.48%,残差最大值分别减小14.34%, 28.85%, 17.48%.
Abstract:
The empirical mode decomposition(EMD)-wavelet model aiming to eliminate the inertial navigation system(INS)stochastic error is proposed to improve GPS(global positioning system)/INS integrated navigation accuracy. After analyzing the error characteristics of the integrated navigation system and introducing the basic principle of integrated navigation, a new GPS/INS integrated navigation route is plotted based on the EMD multi-scale structure and the wavelet decomposition theory. In order to carry out the fusion experiment, the GPS data which updates in 1 s and 2 s and the INS data in 100 Hz are gathered in the University of New South Wales campus. Navigation resolution computed by the INS data before denoising and after denoising is compared with GPS observation position. The error distribution of comparative information is analyzed further. The results show that the INS navigation resolution is better after filtering. When the update period of GPS data is 1 s, the navigation precision increases by 9.07%, 13.89%, 35.14% and the maximum of residual decreases by 2.62%, 19.54%, 31.23% in X, Y, Z direction, respectively. When the update period of GPS data is 2 s, the navigation precision increases by 17.82%, 23.46%, 22.48% and the maximum of residual decreases by 14.34%, 28.85%, 17.48% in X, Y, Z direction, respectively.

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备注/Memo

备注/Memo:
作者简介: 王坚(1980—),男,博士,教授,博士生导师,wjian@cumt.edu.cn
基金项目: 国家自然科学基金青年基金资助项目(40904004)、国家自然科学基金资助项目(41074010)、江苏省自然科学基金资助项目(BK2009099)、教育部留学回国人员科研启动基金资助项目、江苏省“青蓝工程”资助项目、江苏省高校优势学科建设工程资助项目.
引文格式: 王坚,李增科,高井祥,等.基于EMD-小波随机消噪模型的GPS/INS组合导航[J].东南大学学报:自然科学版,2012,42(3):406-412. [doi:10.3969/j.issn.1001-0505.2012.03.003]
更新日期/Last Update: 2012-05-20