Sun Yiding, Yang Gongliu, Cai Qingzhong, Wen Zeyang
School of Instrumentation and Optoelectronics Engineering, Beihang University, 37 Xueyuan Road, Beijing 100191, China.
Rev Sci Instrum. 2020 Dec 1;91(12):125006. doi: 10.1063/5.0030189.
A significant issue of land vehicle navigation is in-motion attitude alignment of the odometer (OD)-aided strapdown inertial navigation system (SINS). The consecutive OD outliers can occur due to sudden wheel slipping and skidding while vehicle maneuvering. They seriously reduce the robustness and precision of attitude alignment. In this paper, we investigate a robust in-motion attitude alignment method for the OD-aided SINS. The method consists of in-motion coarse alignment and in-motion fine alignment. In the in-motion coarse alignment process, we developed Huber's M-estimation and integral formula based robust Kalman filter (HRKF/IF-CA), which can restrain the interference of consecutive OD outliers on reconstructed observation vectors. Thus, HRKF/IF-CA can contribute to better coarse attitude results. The next process is in-motion fine alignment. Under the popular repeated backtracking scheme, we investigate HRKF based fine alignment (HRKF-FA) with the SINS/OD summed measurement model. HRKF-FA can refine attitude alignment and restrain the interference of consecutive OD outliers simultaneously. Finally, the proposed method is evaluated by simulation and vehicle test. The attitude alignment results show that this method can achieve reasonable attitude results, and the interference of consecutive OD outliers caused by sudden wheel slipping and skidding can be greatly restrained.
陆地车辆导航的一个重要问题是里程计（OD）辅助捷联惯性导航系统（SINS）的运动中姿态对准。在车辆机动过程中，由于车轮突然打滑和侧滑，可能会出现连续的OD异常值。它们严重降低了姿态对准的鲁棒性和精度。在本文中，我们研究了一种用于OD辅助SINS的鲁棒运动中姿态对准方法。该方法包括运动中粗对准和运动中精对准。在运动中粗对准过程中，我们开发了基于Huber's M估计和积分公式的鲁棒卡尔曼滤波器（HRKF/IF-CA），它可以抑制连续OD异常值对重建观测向量的干扰。因此，HRKF/IF-CA可以有助于获得更好的粗姿态结果。接下来的过程是运动中精对准。在流行的重复回溯方案下，我们研究了基于HRKF的精对准（HRKF-FA）与SINS/OD求和测量模型。HRKF-FA可以同时细化姿态对准并抑制连续OD异常值的干扰。最后，通过仿真和车辆测试对所提出的方法进行了评估。姿态对准结果表明，该方法可以获得合理的姿态结果，并且可以大大抑制由车轮突然打滑和侧滑引起的连续OD异常值的干扰。
