Dual-antenna GNSS-aided robust MEMS IMU initial alignment under the earth-centered-earth-fixed frame

惯性测量装置 全球导航卫星系统应用 计算机科学 参考坐标系 帧(网络) 全球定位系统 大地测量学 遥感 计算机视觉 电信 地理
作者
S. Zhang,Weiming Tang,Chenlong Deng,Yangyang Li
出处
期刊:Measurement Science and Technology [IOP Publishing]
卷期号:35 (1): 015130-015130
标识
DOI:10.1088/1361-6501/ad0169
摘要

Abstract The micro-electro-mechanical system (MEMS), with its small size, low cost and low power, has attracted widespread attentions in recent year, and the initial alignment of the inertial measurement unit (IMU) is an indispensable step before the navigation computation. In the traditional alignment methods with only the velocity measurements, the yaw angle is subject to divergence under low dynamic scenarios, and the measurements are also susceptible to the external environments. Furthermore, the navigation frame ( n frame) is usually chosen as the reference frame. Although intuitive, it is more computationally complex compared with the earth-centered-earth-fixed frame ( e frame). Therefore, to improve the alignment performance and computational efficiency, a robust MEMS IMU initial alignment method with yaw assistance under the e frame is proposed. In this method, to address the issues of the yaw divergency and computational inefficiency in the traditional methods, the relationship between the yaw angle, derived from dual-antenna global navigation satellite system baseline solution, and IMU error is derived and incorporated into the state space model with e frame as the reference frame. Besides, a robust extended Kalman filtering is adopted to further improve the system’s performance of outlier resistance, whose robust factors are determined by the Institute of Geodesy and Geophysics Ⅲ model. To validate the performance of the proposed method, two field experiments with the velocity of about 0.7 m s −1 and 1.5 m s −1 was conducted, and the collected data were processed for contrastive analysis. The results show that the effectiveness of the proposed method at suppressing yaw angle divergence and improving the alignment accuracy by resisting outliers under low dynamic scenarios compared with the traditional method. Moreover, the elapsed time is reduced by about 11% when the reference frame in data processing is switched from the n frame to the e frame.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
自觉的水瑶完成签到,获得积分10
3秒前
dd36完成签到,获得积分10
3秒前
无幻完成签到 ,获得积分10
4秒前
科研小白完成签到 ,获得积分10
4秒前
Akim应助junfeiwang采纳,获得10
4秒前
5秒前
turui完成签到 ,获得积分10
6秒前
共享精神应助灵巧的导师采纳,获得10
7秒前
sun完成签到,获得积分10
7秒前
刘三岁三岁完成签到,获得积分10
8秒前
科研通AI5应助DrTang采纳,获得10
8秒前
喵叽发布了新的文献求助10
8秒前
Ortho完成签到,获得积分10
9秒前
猪猪hero应助忧郁的猕猴桃采纳,获得10
9秒前
Owen应助子不语采纳,获得10
10秒前
MiriamYu完成签到,获得积分10
11秒前
12秒前
12秒前
努力的学完成签到,获得积分10
13秒前
美好颜发布了新的文献求助10
14秒前
Mingtiaoxiyue发布了新的文献求助10
15秒前
三年半完成签到,获得积分10
17秒前
17秒前
19秒前
背后海亦完成签到,获得积分10
20秒前
xiao发布了新的文献求助10
22秒前
qq发布了新的文献求助10
23秒前
快乐棒棒糖完成签到,获得积分10
23秒前
未完成发布了新的文献求助30
24秒前
DrTang发布了新的文献求助10
25秒前
所所应助小秋采纳,获得10
26秒前
小蘑菇应助科研通管家采纳,获得10
26秒前
衣吾余应助科研通管家采纳,获得10
27秒前
传奇3应助科研通管家采纳,获得10
27秒前
科研通AI5应助科研通管家采纳,获得10
27秒前
烟花应助科研通管家采纳,获得10
27秒前
27秒前
27秒前
27秒前
李健应助科研通管家采纳,获得10
27秒前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
Cognitive Neuroscience: The Biology of the Mind 1000
Technical Brochure TB 814: LPIT applications in HV gas insulated switchgear 1000
Immigrant Incorporation in East Asian Democracies 500
Nucleophilic substitution in azasydnone-modified dinitroanisoles 500
不知道标题是什么 500
A Preliminary Study on Correlation Between Independent Components of Facial Thermal Images and Subjective Assessment of Chronic Stress 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3965813
求助须知:如何正确求助?哪些是违规求助? 3511146
关于积分的说明 11156382
捐赠科研通 3245736
什么是DOI,文献DOI怎么找? 1793118
邀请新用户注册赠送积分活动 874230
科研通“疑难数据库(出版商)”最低求助积分说明 804268