论文标题
基于车轮安装的MEMS的三个测量模型的比较
A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System
论文作者
论文摘要
需要一个独立的自主死亡算法（DR）系统，以补充全球导航卫星系统（GNSS）的土地车辆，为此，重度计辅助惯性导航系统（ODO/INS）是经典的解决方案。在这项研究中，我们使用车轮安装的MEMS IMU（Wheel-IMU）代替里程表，进一步研究了三种类型的测量模型，包括速度测量，位移增量测量以及在基于Wheel-IMU的DR系统中的速度测量和触点零速度测量。 Wheel-IMU以及非全面约束（NHC）产生的测量通过误差态扩展的Kalman滤波器（EKF）融合了INS。理论讨论和现场测试说明了这三个测量值的可行性和等效性。最大水平位置漂移均小于总距离的2％。另外，位移增量测量模型对车轮IMU和车轮中心之间的杠杆臂误差较少敏感。
A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this study, we use a wheel-mounted MEMS IMU (Wheel-IMU) to substitute the odometer, and further, investigate three types of measurement models, including the velocity measurement, displacement increment measurement, and contact point zero-velocity measurement, in the Wheel-IMU based DR system. The measurement produced by the Wheel-IMU along with the non-holonomic constraint (NHC) are fused with INS through an error-state extended Kalman filter (EKF). Theoretical discussion and field tests illustrate the feasibility and equivalence of the three measurements in terms of the overall DR performance. The maximum horizontal position drifts are all less than 2% of the total travelled distance. Additionally, the displacement increment measurement model is less sensitive to the lever arm error between the Wheel-IMU and the wheel center.
