论文标题
基于回溯算法和向后滤波的MEMS-IMU的GNSS辅助初始对齐方法
A GNSS Aided Initial Alignment Method for MEMS-IMU Based on Backtracking Algorithm and Backward Filtering
论文作者
论文摘要
为了获得具有罪恶（横穿惯性导航系统）的高临界位置，初始对准需要快速准确地确定初始态度。高准确级IMU（惯性测量UINT）可能会无意获得初始态度，但是，低临界级陀螺仪无法适应确定标题角，因此无法获得初始态度矩阵。如果使用较大的未对准角模型来估计趋势角度，则收敛时间将会更长。为了解决这两个问题，本文提出了一种新颖的对齐算法将回溯算法和反向导航更新方法与GNSS（全球导航卫星系统）的逆向导航更新方法提供了帮助。完成模拟和陆地车辆测试以评估所提出算法的对齐精度。水平错位小于2.3 Arcmin，测试中的标题未对准小于10.1 Arcmin。所提出的算法是低成本IMU的一种可行且实用的一致性方法，可在短期内获得初始态度，并由GNSS辅助。
To obtain a high-accuracy position with SINS(Strapdown Inertial Navigation System), initial alignment needs to determine initial attitude rapidly and accurately. High-accuracy grade IMU(Inertial Measurement Uint) can obtain the initial attitude indenpendently, however, the low-accuracy grade gyroscope doesn't adapt to determine the heading angle, hence the initial attitude matrix will not be obtained. If using large misalignment angle model to estiamting heading angle, the convergence time will become much longer. For solving these two problems, a novel alignment algorithm combined backtracking algorithm and reverse navigation updating method with GNSS(Global Navigation Satellite System) aiding is proposed herein. The simulation and land vehicle test were finished to evaluate the alignment accuracy of the proposed algorithm. The horizontal misalignment is less than 2.3 arcmin and the heading misalignment is less than 10.1 arcmin in test. The proposed algorithm is a feasible and practical alignment method for low-cost IMU to obtain initial attitude in short term and large misalignment condition aided by GNSS.
