[1]章红平,常乐,汪宏晨,等.GNSS/INS紧组合算法实时性改进与嵌入式验证[J].东南大学学报(自然科学版),2016,46(4):695-701.[doi:10.3969/j.issn.1001-0505.2016.04.004]
 Zhang Hongping,Chang Le,Wang Hongchen,et al.Improvement and verification of real-time performance of GNSS/INS tightly coupled integration in embedded platform[J].Journal of Southeast University (Natural Science Edition),2016,46(4):695-701.[doi:10.3969/j.issn.1001-0505.2016.04.004]
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GNSS/INS紧组合算法实时性改进与嵌入式验证()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
46
期数:
2016年第4期
页码:
695-701
栏目:
测绘与导航
出版日期:
2016-07-20

文章信息/Info

Title:
Improvement and verification of real-time performance of GNSS/INS tightly coupled integration in embedded platform
作者:
章红平1常乐1汪宏晨3牛小骥1高周正12
1武汉大学卫星导航定位技术研究中心, 武汉 430079; 2武汉大学测绘学院, 武汉 430079; 3武汉大学科学技术发展研究院, 武汉 430079
Author(s):
Zhang Hongping1 Chang Le1 Wang Hongchen3 Niu Xiaoji1 Gao Zhouzheng12
1GNSS Research Center, Wuhan University, Wuhan 430079, China
2School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
3Academy of Science and Technology, Wuhan University, Wuhan 430079, China
关键词:
GNSS/INS紧组合 算法实时性 DSP Kalman滤波
Keywords:
GNSS(global navigation satellite system)/INS(inertial navigation system)tightly coupled integration real-time performance digital signal processor Kalman filter
分类号:
P228.41
DOI:
10.3969/j.issn.1001-0505.2016.04.004
摘要:
针对GNSS/INS实时紧组合导航系统中存在的GNSS数据延迟以及组合更新解算耗时过长的问题,基于Kalman滤波理论,提出了一种在完成了滞后的观测更新后将误差状态向量一步转移到当前时刻的Kalman滤波数学模型.为了验证改进模型的有效性,首先,在Windows平台上,利用车载实测GNSS观测数据和IMU观测数据对比分析了使用改进模型解算与标准Kalman模型解算在GNSS信号中断时段内的导航误差,分析结果表明,2种模型的导航误差相当,说明了改进模型对时间延迟处理的正确性.然后,在DSP硬件平台上,基于改进模型实现了GNSS/INS实时紧组合导航系统,并进行了车载测试,实测结果表明:相对于标准Kalman模型,所提出的改进模型能够在保障紧组合导航系统精度的前提下,将输出导航结果的时间延迟减少到最小,保障了组合导航结果的实时性.
Abstract:
Aiming at the data delay of the global navigation satellite system(GNSS)and too long time consuming problems for Kalman updating existing in the GNSS/INS(inertial navigation system)real time tightly coupled integration system, an improved mathematical model for transferring the error state to the current time in one step after finishing the delayed observation update is proposed based on the Kalman filter theory. In order to verify the effects of the improved model, first, in the Windows platforms, navigation errors during the GNSS signal interruption period of the improved model and the standard Kalman filter model are comparatively analyzed by using the GNSS and the IMU observations of a vehicle testing. The results show that the navigation errors of the two models are similar. So the time delay processing of the improved model is correct. Then, a GNSS/INS real-time tightly coupled integration system based on the digital signal processor(DSP)is developed by using the improved mathematical model and verified by a vehicle testing. The testing results show that compared with the standard Kalman filter model,the improved model can significantly reduce the time delay, thus ensuring the accuracy of the tightly coupled integration system and real-time performance of the system.

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备注/Memo

备注/Memo:
收稿日期: 2015-11-13.
作者简介: 章红平(1977—),男,博士,教授,博士生导师,hpzhang@whu.edu.cn.
基金项目: 国家高技术研究发展计划(863计划)资助项目(2015AA124002)、国家自然科学基金资助项目(41404029).
引用本文: 章红平,常乐,汪宏晨,等.GNSS/INS紧组合算法实时性改进与嵌入式验证[J].东南大学学报(自然科学版),2016,46(4):695-701. DOI:10.3969/j.issn.1001-0505.2016.04.004.
更新日期/Last Update: 2016-07-20