基于鲁棒 EKF 的 MEMS-INS/GNSS/VO组合导航方法

U666.1; 针对传统惯导/卫导组合导航在复杂环境下易受干扰,观测量异常从而影响导航性能的问题,提出了基于鲁棒扩展卡尔曼滤波(extended Kalman filter,EKF)的组合导航方法.设计了基于微惯性导航系统(micro-electro-mechanical system-inertial navigation system,MEMS-INS)、全球导航卫星系统(global navigation satellite system,GNSS)及视觉里程计(visual odometry,VO)的融合框架,给出了在GNSS信号失效情形下的导航滤波模型,并将EKF与Huber方法结合...

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Published in系统工程与电子技术 Vol. 44; no. 6; pp. 1994 - 2000
Main Authors 李文华, 汪立新, 沈强, 李灿, 吴宗收
Format Journal Article
LanguageChinese
Published 火箭军工程大学导弹工程学院,陕西西安710025 01.06.2022
Subjects
视觉里程计
扩展卡尔曼滤波
组合导航
KITTI数据集
Huber方法
Online AccessGet full text
ISSN1001-506X
DOI10.12305/j.issn.1001-506X.2022.06.27

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Abstract U666.1; 针对传统惯导/卫导组合导航在复杂环境下易受干扰,观测量异常从而影响导航性能的问题,提出了基于鲁棒扩展卡尔曼滤波(extended Kalman filter,EKF)的组合导航方法.设计了基于微惯性导航系统(micro-electro-mechanical system-inertial navigation system,MEMS-INS)、全球导航卫星系统(global navigation satellite system,GNSS)及视觉里程计(visual odometry,VO)的融合框架,给出了在GNSS信号失效情形下的导航滤波模型,并将EKF与Huber方法结合,克服观测量受噪声干扰时对导航性能的影响,以提升系统鲁棒性.经仿真和KITTI数据集验证,MEMS-INS/GNSS/VO组合导航方法在GNSS信号失效时仍能输出较高精度导航结果,且可以较好克服异常观测值对系统的影响,具有较高可靠性和鲁棒性.
AbstractList U666.1; 针对传统惯导/卫导组合导航在复杂环境下易受干扰,观测量异常从而影响导航性能的问题,提出了基于鲁棒扩展卡尔曼滤波(extended Kalman filter,EKF)的组合导航方法.设计了基于微惯性导航系统(micro-electro-mechanical system-inertial navigation system,MEMS-INS)、全球导航卫星系统(global navigation satellite system,GNSS)及视觉里程计(visual odometry,VO)的融合框架,给出了在GNSS信号失效情形下的导航滤波模型,并将EKF与Huber方法结合,克服观测量受噪声干扰时对导航性能的影响,以提升系统鲁棒性.经仿真和KITTI数据集验证,MEMS-INS/GNSS/VO组合导航方法在GNSS信号失效时仍能输出较高精度导航结果,且可以较好克服异常观测值对系统的影响,具有较高可靠性和鲁棒性.
Author 汪立新
吴宗收
李文华
李灿
沈强
AuthorAffiliation 火箭军工程大学导弹工程学院,陕西西安710025
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LI Can
WANG Lixin
WU Zongshou
SHEN Qiang
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扩展卡尔曼滤波
组合导航
KITTI数据集
Huber方法
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Snippet U666.1; 针对传统惯导/卫导组合导航在复杂环境下易受干扰,观测量异常从而影响导航性能的问题,提出了基于鲁棒扩展卡尔曼滤波(extended Kalman filter,EKF)的组合导航方法.设计了基于微惯性导航系统(micro-electro-mechanical system-inertial...
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StartPage 1994
Title 基于鲁棒 EKF 的 MEMS-INS/GNSS/VO组合导航方法
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