蔚科, 张云睿, 张秋昭,等.磁传感器辅助Reduced IMU/GPS可观测性研究[J].河南理工大学学报（自然科学版）,2022,41(6):77-83.

YU K, ZHANG Y R, ZHANG Q Z, et al.Study on observability of Reduced IMU/GPS with magnetometer aiding[J].Journal of Henan Polytechnic University(Natural Science) ,2022,41(6):77-83.

磁传感器辅助Reduced IMU/GPS可观测性研究

蔚科1, 张云睿1, 张秋昭1,2, 余章俊1

1.中国矿业大学 环境与测绘学院，江苏 徐州 221116；2.中国矿业大学 江苏省资源环境信息工程重点实验室，江苏 徐州 221116

摘要:为解决Reduced IMU 组合导航系统可观性差的问题，运用基本运动微分方程分析Reduced IMU/GPS组合导航系统参数的可估性，给出特定运动条件下部分参数不可估的原因。鉴于竖轴陀螺漂移误差与航向角误差强相关，提出将磁传感器新息更新值加入观测系数阵中，使航向角误差变为直接可测参数，并通过4组仿真试验定性、定量分析磁传感器辅助前后系统的可观测性。结果表明：不同运动条件下，采用磁传感器辅助前后Reduced IMU/GPS组合导航系统水平方向加速度计漂移误差均能快速收敛，引入磁传感器后，竖轴陀螺漂移误差可更快收敛至真值，竖轴陀螺漂移误差可观测度明显提升。

关键词:Reduced  IMU;可观测性;谱条件数;磁传感器辅助;组合导航系统

doi:10.16186/j.cnki.1673-9787.2020110099

基金项目:国家重点研发计划项目（2017YFE0119600）；江苏省资源环境信息工程重点实验室开放基金资助项目（JS201904）

收稿日期:2020/11/30

修回日期:2021/01/18

出版日期:2022/11/25

Study on observability of Reduced IMU/GPS with magnetometer aiding

YU Ke1, ZHANG Yunrui1, ZHANG Qiuzhao1,2, YU Zhangjun1

1.School of Environment and Spatial Informatics， China University of Mining and Technology， Xuzhou  221116， Jiangsu，China；2.Jiangsu Key Laboratory of Resources and Environment Information Engineering， China University of Mining and Technology， Xuzhou  221116， Jiangsu，China

Abstract:In order to solve the problem of poor observability of the Reduced IMU/GPS integrated navigation system，the estimability of the parameters of Reduced IMU/GPS integrated navigation system was analyzed by means of basic differential equations of motion.And the reason why some parameters could not be estimated under specific motion conditions is given.In view of the strong correlation between the vertical axis gyro drift error and the heading angle error，it was proposed to add the new information update value of the magnetic sensor to the observation coefficient matrix.The heading angle error was turned into a directly measurable parameter to solve the problem of poor observability of the integrated navigation system caused by Reduced IMU.Finally，the method in this paper was verified qualitatively and quantitatively through four sets of simulation experiments.Experimental results showed that under different motion conditions，the horizontal accelerometer drift error of the front and rear integrated navigation system assisted by magnetic sensors could converge quickly.The drift error of the vertical axis gyroscope could converge to the true value faster after introducing the magnetic sensor.The spectral condition number observability method also showed that the observability of the vertical axis gyro drift error had been improved considerably after the introduction of the magnetic sensor.

Key words:Reduced IMU;observability;spectral condition;magnetometer aiding;integrated navigation system

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