基于不等式约束卡尔曼滤波的双MIMU导航位置校正方法

为了实现GPS信号缺失下的单兵自主导航,提出一种基于微惯性测量技术(MIMU)的单兵导航方案。由于惯性导航时误差随着时间而积累,提出了基于双MIMU的单兵导航位置校正方法,通过将两个MIMU分别固联在单兵的双脚上,根据行走时候的步态特性,利用基于假设检验和极大似然估计的零速检测器,进行零速检测修正。结合单兵行走时最大步长约束,设计一种最大步长分解约束下的卡尔曼滤波椭球约束算法,进一步校正单兵导航位置估计。研究结果表明,采用最大步长分解约束不等式卡尔曼滤波的双MIMU单兵导航方案,与未加约束时相比双脚位置均方根误差下降了41.46%。

Dual-MIMU navigation position correction method by inequality constrained Kalman filter

To realize the individual navigation when losing GPS signal,a pedestrian navigation scheme based on micro inertial measurement unit (MIMU) is proposed.Since the inertial navigation error is accumulated with time,a dual-MIMU navigation scheme is given to correct the position estimation of the pedestrian navigation.Two MIMUs are fixedly connected on the individual's feet,and according to the gait characteristics when walking,the zero-speed detecting and correcting on the individual navigation results are conducted by using the zero-speed detector based on hypothesis testing and maximum likelihood estimation of the Generalized Likelihood Ratio Test.According to maximum step size constraint of individual walking,an ellipsoidal constraint Kalman filtering algorithm is designed to further adjust the individual navigation results.Experiment results show that the of the feet's positioning RMS error of the proposed method is reduced by 41.46％,compared with that of the method without feet-position constraint.