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微机电系统传感器在惯性导航系统（INS）/多普勒速度计（DVL）和 INS/DVL/陀螺罗经初始偏差估计方法中的应用。

Application of Initial Bias Estimation Method for Inertial Navigation System (INS)/Doppler Velocity Log (DVL) and INS/DVL/Gyrocompass Using Micro-Electro-Mechanical System Sensors.

机构信息

Department of Maritime Systems Engineering, Tokyo University of Marine Science and Technology, Tokyo 135-8533, Japan.

出版信息

Sensors (Basel). 2022 Jul 17;22(14):5334. doi: 10.3390/s22145334.

DOI:10.3390/s22145334
PMID:35891013
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9320767/
Abstract

This article proposes a novel initial bias estimation method using a trajectory generator (TG). The accuracy of attitude and position estimation in navigation after using the inertial navigation system/Doppler velocity log (INS/DVL) and INS/DVL/gyrocompass (IDG) for 1 h were evaluated, and the results were compared to those obtained using the conventional Kalman filter (KF) estimation method. The probability of a horizontal position error < 1852 m (1 nautical mile) with a bias interval > 400 s was 100% and 9% for the TG and KF, respectively. In addition, the IDG average horizontal position errors over 1 h were 493 m and 507 m for the TG and KF, respectively. Moreover, the amount of variation was 2 m and 27 m for the TG and the KF, respectively. Thus, the proposed method is effective for initial bias estimation of INS/DVL and IDG using micro-electro-mechanical system sensors on a constantly moving vessel.

摘要

本文提出了一种使用轨迹发生器 (TG) 的新的初始偏差估计方法。评估了使用惯性导航系统/多普勒速度计 (INS/DVL) 和惯性导航系统/多普勒速度计/陀螺罗盘 (IDG) 1 小时后在导航中进行姿态和位置估计的准确性，并将结果与传统的卡尔曼滤波器 (KF) 估计方法进行了比较。对于水平位置误差 < 1852 米（1 海里）且偏差间隔 > 400 秒的情况，TG 和 KF 的概率分别为 100%和 9%。此外，对于 IDG，在 1 小时内，TG 和 KF 的平均水平位置误差分别为 493 米和 507 米。此外，TG 和 KF 的变化量分别为 2 米和 27 米。因此，对于在不断移动的船舶上使用微机电系统传感器的 INS/DVL 和 IDG 的初始偏差估计，该方法是有效的。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/c113/9320767/289fbf78e031/sensors-22-05334-g014.jpg
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