Use of Earth's magnetic field for mitigating gyroscope errors regardless of magnetic perturbation.
Use of Earth's magnetic field for mitigating gyroscope errors regardless of magnetic perturbation.
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DOI：
10.3390/s111211390
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Lachapelle G
中科院分区：
文献类型：
--
作者：
Afzal MH;Renaudin V;Lachapelle G
大多数便携式系统，如智能手机，都配备了低成本的消费级传感器，使它们成为有用的行人导航系统（PNS）。这些传感器的测量结果受到由于仪器和环境问题引起的误差的严重污染，使得这些传感器的使用有限。与行人导航相关联的总体导航误差预算可以被分类为位置/位移误差和姿态/定向误差。大多数研究都是为了解决和减少位移误差，这些研究要么利用行人航位推算（PDR），要么利用零速度更新（ZUPT）和零角速率更新（ZARU）等特殊约束。本文针对行人导航中遇到的方向/姿态误差，并开发了一种新的传感器融合技术，利用地球磁场，即使扰动，在行人导航环境中的姿态和速率陀螺仪误差估计，它是假设全球导航卫星系统（GNSS）导航被拒绝。由于地球磁场在行人导航环境中会发生严重的退化，为了有效地利用磁场测量数据，提出了一种基于准静态磁场（QSF）的姿态角速率误差估计方法。QSF计划，然后用于产生所需的测量建议扩展卡尔曼滤波器（EKF）为基础的姿态估计器。结果表明，在城市峡谷环境中，QSF测量能够有效地估计姿态和陀螺仪误差，使总体导航误差预算减少80%以上。
Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS). Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR) or special constraints like Zero velocity UPdaTes (ZUPT) and Zero Angular Rate Updates (ZARU). This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth’s magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS) navigation is denied. As the Earth’s magnetic field undergoes severe degradations in pedestrian navigation environments, a novel Quasi-Static magnetic Field (QSF) based attitude and angular rate error estimation technique is developed to effectively use magnetic measurements in highly perturbed environments. The QSF scheme is then used for generating the desired measurements for the proposed Extended Kalman Filter (EKF) based attitude estimator. Results indicate that the QSF measurements are capable of effectively estimating attitude and gyroscope errors, reducing the overall navigation error budget by over 80% in urban canyon environment.
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DOI：
10.5636/jgg.49.317
发表时间：
1997-01-01
期刊：
JOURNAL OF GEOMAGNETISM AND GEOELECTRICITY
影响因子：
--
作者：
Haines, GV;Newitt, LR
通讯作者：
Newitt, LR
DOI：
10.1155/2010/476598
发表时间：
2010-01-01
影响因子：
2.6
作者：
Shen, Guowei;Zetik, Rudolf;Thomae, Reiner S.
通讯作者：
Thomae, Reiner S.
影响因子：
0.9
作者：
Ramalingam, R.;Anitha, G.;Shanmugam, J.
通讯作者：
Shanmugam, J.
影响因子：
0.7
作者：
Kamisakata, Daisuke;Muramatsu, Shigeki;Yokoyama, Hiroyuki
通讯作者：
Yokoyama, Hiroyuki
DOI：
10.2514/3.19717
发表时间：
1981-01-01
期刊：
JOURNAL OF GUIDANCE AND CONTROL
影响因子：
--
作者：
SHUSTER, MD;OH, SD
通讯作者：
OH, SD