基于加速度补偿的惯性行人导航非零速区间姿态估计CKF算法

doi:10.12305/j.issn.1001-506X.2023.09.29

Abstract

Abstract:

Attitude estimation is the foundation of the navigation computation. In pedestrian navigation system based on foot-bound inertial measurement unit, due to the frequent and violent changes of foot motion acceleration, the accuracy of common attitude fusion algorithms is reduced. In order to reduce the impact of motion acceleration on attitude calculation, the fitting interval that can be used for acceleration compensation is defined through data analysis, the determination method of fitting interval based on zero-speed detection is given, and a first-order fitting compensation scheme is proposed for accelerometer output.The cubature Kalman filter (CKF) algorithm which can complete the subsequent pedestrian navigation attitude estimation task is designed, and the three-sample rotation vector method is used to update the attitude in the non-fitting interval. In the numerical simulation, the proposed algorithm is compared with the pure three-sample rotation vector method, and the accuracy of the algorithm is tested. The effectiveness of the algorithm is verified in the pedestrian navigation experiment. The experiment test results show that the accuracy of CKF attitude estimation with acceleration compensation increases by 35.3% on average in the case of large motion acceleration during walking. In the rectangular closed path test, the horizontal error of starting and ending points decreased by 56.3%, and the height error of starting and ending points decreased by 20.3%.

Key words: inertial navigation, attitude estimation, pedestrian navigation, cubature Kalman filter (CKF), acceleration compensation

CLC Number:

U666.1

Xibin WANG, Hongde DAI, Wenjie QUAN, Rui WANG, Linsheng JIA. Nonzero velocity interval attitude estimation CKF algorithm based on acceleration compensation for inertial pedestrian navigation[J]. Systems Engineering and Electronics, 2023, 45(9): 2894-2901.

Figures/Tables 16

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参数	x轴拟合误差	y轴拟合误差	z轴拟合误差
均值/(m/s²)	-0.004 4	0.001 3	0.018 7
方差(m²/s⁴)	0.016 2	0.016 3	0.021 7

角速度/(rad/s)	0 < t≤2 s
ω_{x, t}	5cos(1.5t)
ω_{y, t}	2sin t
ω_{z, t}	1cos(2t)

时间/s	加速度/(m/s²)
0.3≤t≤0.8	3sin(5t)
1.3<t≤1.8	5sin(2t)

算法	俯仰角/(°)	滚转角/(°)	航向角/(°)
CKF	0.071	0.086	0.044
三子样旋转矢量法	0.116	0.143	0.062

算法	水平误差/m	高度误差/m
加入CKF算法	0.105	0.160
未加入CKF算法	0.243	0.201

Nonzero velocity interval attitude estimation CKF algorithm based on acceleration compensation for inertial pedestrian navigation

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