基于自包含传感器的单兵导航系统设计

Design of Individual Soldier Navigation System Based on Self-Contained Sensors

关键词:  单兵导航系统  零速修正  航向修正  误差补偿

Key words:  Individual soldier navigation system  ZUPT  HUPT  Error compensation

摘要:

针对无卫星信号环境中单兵人员导航定位需求,设计了一种基于自包含传感器的单兵导航系统,重点研究了惯性传感器和压力传感器组合的零速区间检测算法,并通过对单兵导航系统背景磁场误差进行补偿来计算航向角,实现了速度观测量和航向观测量的准确提取。在此基础上,采用Kalman滤波器对系统状态误差进行估计,并对惯性导航解算结果中的累积误差进行修正。最后,在实际路线上开展了单兵导航系统定位实验,实验结果表明,行人在矩形路线终点位置处的位置误差为042m,占行走总路程的033%,从而证明了零速修正和航向修正能有效提高单兵导航系统的定位精度。

Abstract:

Aiming at the requirements of individual soldier positioning in the environment without satellite signal, an individual soldier navigation system (ISNS) based on selfcontained sensors is designed in this paper and external measurement extraction algorithm is studiedThe zero velocity interval in human gait is detected by combining the output of inertial sensors and force sensorMeanwhile, the heading angle can be calculated according to the magnetic sensor output after compensating the background magnetic field error of ISNSOn this basis, the state error of the system is estimated by adopting Kalman filter and the cumulative error of SINS is correctedFinally, positioning experiment is carried out in actual experimental course, the results show that the position error at the end point of the rectangular route is 042m, accounting for 033% of the total walking distance, which proves that the zero velocity update (ZUPT) and heading update (HUPT) can effectively improve the positioning accuracy of ISNS.