顾及零偏几何性质的GNSS/SINS组合导航方法

P228; 由于包含零偏状态的捷联惯性导航系统(SINS)运动学方程不再具有群仿射性质,当前不变扩展卡尔曼滤波(EKF)算法设计过程中并未将零偏纳入具有几何性质的运动学方程.本文通过构建一个群和群作用使得包含零偏状态的运动学系统满足等变性质,能够自然地处理包含陀螺零偏和加速度计零偏的惯性基组合导航系统问题,而且能从理论上降低导航状态误差动力学的线性化误差.尽管基于不变EKF的组合导航受到广泛关注,但较少研究在世界坐标系上展开基于等变误差的GNSS/SINS紧组合导航研究.因此,本文提出一种世界坐标系上基于等变误差的GNSS/SINS紧组合导航系统.与当前流行的不变EKF不同,本文构建的等变误差...

Full description

Saved in:
Bibliographic Details
Published in测绘学报 Vol. 54; no. 1; pp. 26 - 39
Main Authors 罗亚荣, 郭迟, 欧阳威, 刘经南
Format Journal Article
LanguageChinese
Published 武汉大学人工智能研究院,湖北武汉 430079%同济大学测绘与地理信息学院,上海 200092 17.02.2025
湖北珞珈实验室,湖北武汉 430079
武汉大学卫星导航定位技术研究中心,湖北武汉 430079%武汉大学卫星导航定位技术研究中心,湖北武汉 430079
Subjects
world frame
GNSS/SINS integrated navigation
homogeneous manifold
等变系统
世界坐标系
robust model
equivariant system
GNSS/SINS组合导航
等变误差
齐次流形
群作用
equivariant error
group action
抗差模型
Online AccessGet full text
ISSN1001-1595
DOI10.11947/j.AGCS.2025.20240232

Cover

Abstract P228; 由于包含零偏状态的捷联惯性导航系统(SINS)运动学方程不再具有群仿射性质,当前不变扩展卡尔曼滤波(EKF)算法设计过程中并未将零偏纳入具有几何性质的运动学方程.本文通过构建一个群和群作用使得包含零偏状态的运动学系统满足等变性质,能够自然地处理包含陀螺零偏和加速度计零偏的惯性基组合导航系统问题,而且能从理论上降低导航状态误差动力学的线性化误差.尽管基于不变EKF的组合导航受到广泛关注,但较少研究在世界坐标系上展开基于等变误差的GNSS/SINS紧组合导航研究.因此,本文提出一种世界坐标系上基于等变误差的GNSS/SINS紧组合导航系统.与当前流行的不变EKF不同,本文构建的等变误差建立在一个对称的基础上,该对称适当地包括群结构中的所有状态.试验结果表明:相对于右不变EKF,本文提出的滤波算法在不同大失准角情况下具有较好的瞬态响应;同时,世界坐标系下的紧组合导航在利用抗差模型后有效地提升了滤波稳健性.
AbstractList P228; 由于包含零偏状态的捷联惯性导航系统(SINS)运动学方程不再具有群仿射性质,当前不变扩展卡尔曼滤波(EKF)算法设计过程中并未将零偏纳入具有几何性质的运动学方程.本文通过构建一个群和群作用使得包含零偏状态的运动学系统满足等变性质,能够自然地处理包含陀螺零偏和加速度计零偏的惯性基组合导航系统问题,而且能从理论上降低导航状态误差动力学的线性化误差.尽管基于不变EKF的组合导航受到广泛关注,但较少研究在世界坐标系上展开基于等变误差的GNSS/SINS紧组合导航研究.因此,本文提出一种世界坐标系上基于等变误差的GNSS/SINS紧组合导航系统.与当前流行的不变EKF不同,本文构建的等变误差建立在一个对称的基础上,该对称适当地包括群结构中的所有状态.试验结果表明:相对于右不变EKF,本文提出的滤波算法在不同大失准角情况下具有较好的瞬态响应;同时,世界坐标系下的紧组合导航在利用抗差模型后有效地提升了滤波稳健性.
Abstract_FL In the current design of invariant extended Kalman filter(EKF),biases states are not included in the kinematic equa-tions with geometric properties due to that the kinematic systems of strapdown inertial navigation system(SINS)with biases no longer have group affine properties.This article constructs a group and a group action to satisfy the equivariant property of the kinematic equation containing biases state,which can naturally handle the problem of inertial based integrated navigation systems containing gyro bias and acceleration bias,and the linearization error of navigation state error dynamics can be reduced theoretically.Although the integrated navigation based on invariant EKF has received widespread attention,there has been few research on GNSS/SINS tightly coupled integrated navigation based on equivariant error in the world frame.Therefore,this article proposes a GNSS/SINS tightly coupled integrated navigation system based on equivariant errors in the world frame.Unlike the currently popular invariant EKF,the equivariant error constructed in this paper is based on a symmetry that appro-priately includes all states in the group structure.The experimental results show that the filtering algorithm proposed in this paper has better transient response under different large misalignment angles compared to the right invariant EKF.At the same time,the robust model in the tightly coupled integrated navigation in the world frame effectively improves filtering robustness.
Author 郭迟
罗亚荣
欧阳威
刘经南
AuthorAffiliation 武汉大学卫星导航定位技术研究中心,湖北武汉 430079%武汉大学卫星导航定位技术研究中心,湖北武汉 430079;湖北珞珈实验室,湖北武汉 430079;武汉大学人工智能研究院,湖北武汉 430079%同济大学测绘与地理信息学院,上海 200092
AuthorAffiliation_xml – name: 武汉大学卫星导航定位技术研究中心,湖北武汉 430079%武汉大学卫星导航定位技术研究中心,湖北武汉 430079;湖北珞珈实验室,湖北武汉 430079;武汉大学人工智能研究院,湖北武汉 430079%同济大学测绘与地理信息学院,上海 200092
Author_FL OUYANG Wei
GUO Chi
LIU Jingnan
LUO Yarong
Author_FL_xml – sequence: 1
  fullname: LUO Yarong
– sequence: 2
  fullname: GUO Chi
– sequence: 3
  fullname: OUYANG Wei
– sequence: 4
  fullname: LIU Jingnan
Author_xml – sequence: 1
  fullname: 罗亚荣
– sequence: 2
  fullname: 郭迟
– sequence: 3
  fullname: 欧阳威
– sequence: 4
  fullname: 刘经南
BookMark eNrjYmDJy89LZWCQNTTQMzS0NDHXz9JzdHcO1jMyMDIFESYGRsZGLAychgYGhrqGppamHAy8xcWZSQYGpibG5qbGlpwMZi8X7nva3_Vy9ranjf1P2xc82Tv1WcPyF1tWPJ_V4u4XHKwf7OkX_Hx3y9MJHU_X73nRserZtJ3PNk_lYWBNS8wpTuWF0twMoW6uIc4euj7-7p7Ojj66xUA7jXXNEs2TLdPSUi0tjI0tzM1SLJKBHIu0JHPLxERTUyMLS6PUNEMDy0RzA6PklCRTExMzU4PUxLRkCwsL81TLpFRjbgZViLnliXlpiXnp8Vn5pUV5QBvjkzMqkkD-NABZZAwA1LVY-w
ClassificationCodes P228
ContentType Journal Article
Copyright Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
Copyright_xml – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
DBID 2B.
4A8
92I
93N
PSX
TCJ
DOI 10.11947/j.AGCS.2025.20240232
DatabaseName Wanfang Data Journals - Hong Kong
WANFANG Data Centre
Wanfang Data Journals
万方数据期刊 - 香港版
China Online Journals (COJ)
China Online Journals (COJ)
DatabaseTitleList
DeliveryMethod fulltext_linktorsrc
Discipline Astronomy & Astrophysics
DocumentTitle_FL GNSS/SINS integrated navigation method considering the geometric property of biases state
EndPage 39
ExternalDocumentID chxb202501003
GroupedDBID -01
2B.
4A8
5VS
5XA
5XB
7X2
92E
92I
93N
ABJNI
ACGFS
AEUYN
AFKRA
ALMA_UNASSIGNED_HOLDINGS
ATCPS
BBNVY
BENPR
BHPHI
BKSAR
CCEZO
CCPQU
CCVFK
CW9
HCIFZ
IPNFZ
M0K
M7P
OK1
P2P
PATMY
PCBAR
PHGZM
PHGZT
PIMPY
PMFND
PSX
PYCSY
RIG
TCJ
TGP
U1G
U5K
ID FETCH-LOGICAL-s1003-6a7c9ffe9833876d8cffe8fb79aa552892ef109a702cdb544650eafc8887e9be3
ISSN 1001-1595
IngestDate Thu May 29 04:11:08 EDT 2025
IsPeerReviewed false
IsScholarly true
Issue 1
Keywords world frame
GNSS/SINS integrated navigation
homogeneous manifold
等变系统
世界坐标系
robust model
equivariant system
GNSS/SINS组合导航
等变误差
齐次流形
群作用
equivariant error
group action
抗差模型
Language Chinese
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-s1003-6a7c9ffe9833876d8cffe8fb79aa552892ef109a702cdb544650eafc8887e9be3
PageCount 14
ParticipantIDs wanfang_journals_chxb202501003
PublicationCentury 2000
PublicationDate 2025-02-17
PublicationDateYYYYMMDD 2025-02-17
PublicationDate_xml – month: 02
  year: 2025
  text: 2025-02-17
  day: 17
PublicationDecade 2020
PublicationTitle 测绘学报
PublicationTitle_FL Acta Geodaetica et Cartographica Sinica
PublicationYear 2025
Publisher 武汉大学人工智能研究院,湖北武汉 430079%同济大学测绘与地理信息学院,上海 200092
湖北珞珈实验室,湖北武汉 430079
武汉大学卫星导航定位技术研究中心,湖北武汉 430079%武汉大学卫星导航定位技术研究中心,湖北武汉 430079
Publisher_xml – name: 湖北珞珈实验室,湖北武汉 430079
– name: 武汉大学人工智能研究院,湖北武汉 430079%同济大学测绘与地理信息学院,上海 200092
– name: 武汉大学卫星导航定位技术研究中心,湖北武汉 430079%武汉大学卫星导航定位技术研究中心,湖北武汉 430079
SSID ssib005437539
ssib038074662
ssib051373695
ssib002263888
ssib000862384
ssj0058465
Score 2.4263043
Snippet P228;...
SourceID wanfang
SourceType Aggregation Database
StartPage 26
Title 顾及零偏几何性质的GNSS/SINS组合导航方法
URI https://d.wanfangdata.com.cn/periodical/chxb202501003
Volume 54
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV07b9RAELZCaGgQT4VXlIKhQZf47F3vTrl78SUCEQklkdJFPp9NGi4Sl0iQCqRIRDShCQU0UIFoKEBIiMev4fIo-A_MrH13DkTiIZ2s9dx49tv5vLezvt2x5131NWZBGrRrggiviSxMaomkiasO86QdpjTiKt4ofGsuml0UN5bk0sixH5VVS-trrcl048h9Jf_DKsmIV94l-w_MDoySgMrELx2JYTr-FccQI5g62BhiCboJ2rAELdjISeos5IIC40MswE4DSogjXt9gFMQarACjIVaABrSYmZuf5_9WaUrPMmtJxgbQB625YJpgG3wdnRrDljACi1ywIRQvsuzHuk5IldvSFBYWpsFEDoIBI_t8OxUCpxxKw2i4EtINhyoIOuTrGXYTsDn8JgLTcA1CroWQcEV0fX2oIhky6n6zCr9wjdXnHoHbR15s83R3qjPdR2zJn-hMC1fZoDEOMn1IYsnVzsOITqIZM7UsdhSgcAV0BCHrmIBucmcc2ZUMquHc8Gu910VIgRZCIPuENPoOjo_C9LvvCaUulbEB1nesk52iAU2-k5iWOpM8tFNFWVgwpXGrOB-lj5UHx5xqq0ahq6yOfEX67kM9vBzGokpAVCSb-n2oRaHcWGtmGvOTzBAfBMWAwTC2GKz4TFfut1iHpv-cm_d4oJRbVXHzdnU2QLG4rkabNDhUsulJEdLkehB986sSRDTMdinroQojHMx-ObSWbrFD2fRyAx8DnzoKttu318mTzp1KiLlwyjtZzg0nTNHRT3sjGytnvDHT5X-rVu8-mLg24crFw8juWS86ePWtt_3k4MXH3qPt3uOX37_u7D58vf_hzd7zTe7JU9yP9z5v9p5u9d592d96u_vs0-77nXPeYjNeaMzWyveg1LrsrVqUqBTzPEMdhhS8tHVKJzpvKUwSKQONQZbXfUyUH6TtluQUiH6W5Cn5TmXYysLz3mhntZONeROZH2YibytOoCBaUaDzJKnLNPEzLTEIkgveeOmC5fJ3rrt8iLqLf1K45J0Y9tbL3ujavfXsCsXta61xx_ZPMSamgg
linkProvider Colorado Alliance of Research Libraries
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%E9%A1%BE%E5%8F%8A%E9%9B%B6%E5%81%8F%E5%87%A0%E4%BD%95%E6%80%A7%E8%B4%A8%E7%9A%84GNSS%2FSINS%E7%BB%84%E5%90%88%E5%AF%BC%E8%88%AA%E6%96%B9%E6%B3%95&rft.jtitle=%E6%B5%8B%E7%BB%98%E5%AD%A6%E6%8A%A5&rft.au=%E7%BD%97%E4%BA%9A%E8%8D%A3&rft.au=%E9%83%AD%E8%BF%9F&rft.au=%E6%AC%A7%E9%98%B3%E5%A8%81&rft.au=%E5%88%98%E7%BB%8F%E5%8D%97&rft.date=2025-02-17&rft.pub=%E6%AD%A6%E6%B1%89%E5%A4%A7%E5%AD%A6%E4%BA%BA%E5%B7%A5%E6%99%BA%E8%83%BD%E7%A0%94%E7%A9%B6%E9%99%A2%2C%E6%B9%96%E5%8C%97%E6%AD%A6%E6%B1%89+430079%25%E5%90%8C%E6%B5%8E%E5%A4%A7%E5%AD%A6%E6%B5%8B%E7%BB%98%E4%B8%8E%E5%9C%B0%E7%90%86%E4%BF%A1%E6%81%AF%E5%AD%A6%E9%99%A2%2C%E4%B8%8A%E6%B5%B7+200092&rft.issn=1001-1595&rft.volume=54&rft.issue=1&rft.spage=26&rft.epage=39&rft_id=info:doi/10.11947%2Fj.AGCS.2025.20240232&rft.externalDocID=chxb202501003
thumbnail_s http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fchxb%2Fchxb.jpg