An Unconventional Multiple Low-Cost IMU and GPS-Integrated Kinematic Positioning and Navigation Method Based on Singer Model
An Unconventional Multiple Low-Cost IMU and GPS-Integrated Kinematic Positioning and Navigation Method Based on Singer Model
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一种基于Singer模型的非常规多低成本IMU和GPS一体化运动定位导航方法
DOI：
10.3390/s19194274
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发表时间：
2019-10-01
期刊：
影响因子：
3.9
通讯作者：
Xiao, Shu
中科院分区：
文献类型：
--
作者：
Zhu, Minghong;Yu, Fei;Xiao, Shu
为了释放传统惯性导航机械化对先验低成本惯性测量单元（IMU）误差模型的强烈依赖，本研究采用了非传统的多传感器集成策略，以集成多个低成本伊穆斯和全球定位系统（GPS），用于大众市场的汽车应用。非常规的集成策略利用基本的三维（3D）运动轨迹模型作为系统模型来直接估计导航参数，并且它允许来自所有传感器的测量独立地参与测量更新。然而，不太复杂的运动学模型不能实现道路车辆加速操纵的不同运动状态之间的平滑过渡。为了实现机动飞行器的平稳过渡，本文基于“当前”统计Singer加速度模型，建立了一个更实用的三维运动轨迹模型。此外，利用非常规的策略，我们单独建模每个IMU的系统误差和所有传感器的测量，与大多数现有的方法，采用相同设计的不同传感器的共模误差。通过对一个GPS和多个伊穆斯的真实的数据集进行处理，验证了该算法模型在非常规集成策略下的成功性。
To release the strong dependence of the conventional inertial navigation mechanization on the a priori low-cost inertial measurement unit (IMU) error model, this research applies an unconventional multi-sensor integration strategy to integrate multiple low-cost IMUs and a global positioning system (GPS) for mass-market automotive applications. The unconventional integration strategy utilizes a basic three-dimensional (3D) kinematic trajectory model as the system model to directly estimate navigational parameters, and it allows the measurements from all of the sensors independently participating in measurement updates. However, the less complex kinematic model cannot realize smooth transitions between different motion statuses for the road vehicle with acceleration maneuvers. In this manuscript, we establish a more practical 3D kinematic trajectory model based on a “current” statistical Singer acceleration model to realize smooth transitions for the maneuvering vehicle. In addition, taking advantage of the unconventional strategy, we individually model the systematic errors of each IMU and the measurements of all sensors, in contrast to most existing approaches that adopt the common-mode errors for different sensors of the same design. A real dataset involving a GPS and multiple IMUs is processed to validate the success of the proposed algorithm model under the unconventional integration strategy.