College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China.
Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics & Astronautics, Nanjing 211106, China.
Sensors (Basel). 2018 Jul 18;18(7):2341. doi: 10.3390/s18072341.
The GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) navigation system has been widely discussed in recent years. Because of the unique INS-aided loop structure, the deeply coupled system performs very well in highly dynamic environments. In practice, vehicle maneuvering has a big influence on the performance of IMUs (Inertial Measurement Unit), and determining whether the selected IMUs and receiver parameters satisfy the loop dynamic requirement is still a critical problem for deeply coupled systems. Aiming at this, a new parameter self-calibration method based on the norm principle is proposed which explains the relationship between IMU precision and the velocity error of the system; the method will also provide a detailed solution to calculate the loop steady-state tracking error, so it will eventually make a judgment about the stability of the tracking loop under present system parameter settings. Lastly, a full digital simulation platform is set up, and the results of simulations show good agreement with the proposed method.
近年来，GNSS/INS（全球导航卫星系统/惯性导航系统）导航系统受到了广泛的讨论。由于 INS 辅助的环路结构独特，深度耦合系统在高动态环境下表现非常出色。在实际中，车辆机动对 IMU（惯性测量单元）的性能有很大的影响，确定所选的 IMU 和接收机参数是否满足环路动态要求仍然是深度耦合系统的一个关键问题。针对这一问题，提出了一种基于范数原理的新参数自校准方法，该方法解释了 IMU 精度与系统速度误差之间的关系；该方法还将提供一个详细的解决方案来计算环路的稳态跟踪误差，从而最终对当前系统参数设置下的跟踪环路稳定性做出判断。最后，建立了一个全数字仿真平台，仿真结果与所提出的方法吻合较好。
