一种双天线辅助的两段连续式对准以及误差分析

杨菊花; 张琳婧; 陈光武; 程鉴皓; 李鹏

doi:10.11999/JEIT191021

一种双天线辅助的两段连续式对准以及误差分析

doi: 10.11999/JEIT191021

杨菊花³,
张琳婧^{1, 2, ,},
陈光武^{1, 2},
程鉴皓^{1, 2},
李鹏^{1, 2}

1.
兰州交通大学自动控制研究所兰州 730070
2.
甘肃省高原交通信息工程及控制重点实验室兰州 730070
3.
兰州交通大学交通运输学院兰州 730070

基金项目: 国家自然科学基金(61863024, 71761023)，甘肃省高等学校科研项目(2018C-11, 2018A-22)，甘肃省自然基金(18JR3RA130, 18JR3RA110)

详细信息

作者简介:
杨菊花：女，1978年生，副教授，研究方向为交通运输规划与管理

张琳婧：女，1994年生，硕士生，研究方向为组合导航与姿态估计

陈光武：男，1976年生，教授，研究方向为交通信息工程及控制

程鉴皓：男，1995年生，硕士生，研究方向为惯性导航与组合导航

李鹏：男，1985年生，博士生，研究方向为交通信息工程及控制

通讯作者:
张琳婧　0217673@stu.lzjtu.edu.cn

中图分类号: TP212.9
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- 被引次数: 0
出版历程
- 收稿日期: 2019-12-23
- 修回日期: 2020-09-13
- 网络出版日期: 2020-09-28
- 刊出日期: 2021-02-23

Two-segment Continuous Alignment and Error Analysis Method Based on Dual Antenna Assistance

Juhua YANG³,
Linjing ZHANG^{1, 2
, ,},
Guangwu CHEN^{1, 2},
Jianhao CHENG^{1, 2},
Peng LI^{1, 2}

1.
Institute of Automatic Control, Lanzhou Jiaotong University, Lanzhou 730070, China
2.
Key Laboratory of Plateau Traffic Information Engineering and Control of Gansu Province, Lanzhou 730070, China
3.
School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou 730070, China

Funds: The National Natural Science Foundation of China (61863024, 71761023), Gansu Provincial University Research Project Funding (2018C-11, 2018A-22), The Natural Science Foundation of Gansu Province (18JR3RA130, 18JR3RA110)

摘要

摘要:
针对低精度微惯性测量单元/全球导航卫星系统 (IMU/GNSS)松组合导航系统中初始方位难以精确得到和行进间航向容易发散的问题，该文设计了一种双天线辅助的两段连续式对准方法。首先分析了初始方位误差对航向精度的影响；其次，由于GNSS测向系统精度高、无姿态漂移误差的特点，基于双天线基线矢量推导了一种最小二乘算法的测姿模型，进行初始对准；最后针对行进间对准，研究扩展了基于航向差值的1维量测以抑制航向发散。设计试验探讨了双天线基线矢量对初始对准与行进间航向精度的影响，改进方法可以使得初始方位误差优于0.7°，行进间航向能够更准确地被跟踪。针对目标的初始对准与行进间对准，双天线可提供辅助信息，其效果优于单天线IMU/GNSS的组合，且方法计算量适中。
- 双天线 /
- 对准 /
- 基线
Abstract:
Considering the problem that it is difficult to obtain the initial position accurately in the low-precision Inertial Measurement Unit/Global Navigation Satellite System (IMU/GNSS) loose integrated navigation system and the course divergence is easy to travel. A two-segment continuous alignment method assisted by dual antennas is designed. Firstly, the influence of initial bearing error on heading accuracy is analyzed. Secondly, due to the characteristics of high accuracy and poor dynamic response of the GNSS direction-finding system, a least-squares attitude estimation model is derived based on the dual-antenna baseline vector for initial alignment. Finally, for the alignment between travels, the research extendes the one-dimensional measurement based on the heading difference to suppress the heading error. The design experiment explores the influence of the dual antenna baseline vector on the initial alignment and the heading accuracy between travels. The improved method can make the initial azimuth error better than 0.7°. At the same time, the heading angle between travels can be tracked more accurately. For the initial alignment of the target and the alignment between the traveling, the dual antenna can provide auxiliary information, its effect is better than the single antenna IMU/GNSS combination, and the method calculation is moderate.
- Dual antenna /
- Alignment /
- Baseline

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图 1 对准流程框图

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图 2 对准算法框图

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图 3 静态仿真航向角

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图 4 静态仿真航向误差

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图 5 0.7 m与1.5 m基线与真值航向的对比

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图 6 0.7 m与1.5 m基线的航向标差

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图 7 动态半仿真航向角

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图 8 动态半仿真航向误差

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图 9 北向速度误差

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图 10 东向速度误差

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表 1 仿真方位误差

序号	仿真条件	陀螺漂移0°/h，加表漂移200 μg		陀螺漂移0.05°/h，加表漂移200 μg
序号	初始方位误差	50 s	100 s	50 s	100 s
1	0°	–0.0259	–0.0132	0.1852	0.1744
2	1°	–0.0456	–0.0164	0.1896	0.1801
3	2°	–0.0459	–0.0221	0.2106	0.2087
4	3°	0.0536	–0.0049	0.2235	0.2151
5	4°	0.0566	0.0549	0.2446	0.2158
6	5°	0.0928	0.0643	0.2710	0.2502

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表 2 不同基线的航向、俯仰误差与标差对比

序号	单位(°)						单位(m)
序号	航向(均值)	航向误差	俯仰(均值)	俯仰误差	航向标差	俯仰标差	基线长度
1	12.7585	2.3973	–1.9938	0.6634	0.6986	1.3569	0.3
2	11.6900	1.3188	–0.4225	0.8879	0.5072	1.2269	0.5
3	10.9793	0.6081	–0.2156	1.1148	0.3144	0.7169	0.7
4	12.5680	2.1968	–0.1551	1.1753	0.2661	0.5105	0.9
5	12.6673	2.2961	–0.5753	0.7551	0.2333	0.4548	1.1
6	11.7562	1.383	–0.3468	0.9836	0.1757	0.3178	1.3
7	10.8113	0.4401	–0.2260	1.1044	0.1601	0.3331	1.5
8	12.0038	1.6326	–0.2109	1.1195	0.1555	0.3028	1.7

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表 3 航向、速度的误差均值与RMS

方法		航向(°)	东向速度(m/s)	北向速度(m/s)
误差均值	改进前	21.3608	0.1874	0.1123
误差均值	改进后	5.5263	0.1103	0.0982
RMS	改进前	50.0653	0.3035	0.1691
RMS	改进后	17.3301	0.2495	0.1468

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