• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20040524-26; Saint Petersburg(RU) >AN ALTERNATIVE GPS/INS INTEGRATION METHOD
【24h】

AN ALTERNATIVE GPS/INS INTEGRATION METHOD

机译：一种替代的GPS / INS集成方法

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The Institute of Navigation of Stuttgart University utilises an in-house-developed airborne laser scanner system (Sca-LARS)for the acquisition of topographic data. The geo-referencing of the laser data results from processing differential GPS carrier phase data and integrating the GPS-determined trajectory with incremental velocity and angular rate data from an 'menial measurement unit (IMU). So far, the GPS/IMU integration utilises a commercial software package based on a Kal-man filter processing of the GPS trajectory and the IMU measurements. Such a filter calculates the best estimates for a set of parameters from all data collected up to the processing epoch; and it also can predict the subsequent progress of the process; it is designed for real time applications and in this context it provides an optimal solution. In contrast, the geo-referencing of the laser data (and of data acquired by other measurement methods) typically takes place post mission in the office; there is no requirement for real time results, and the accuracy requirements of better than 10cm in position can presently only be satisfied in post processing GPS carrier phase data. Additionally, the typical flight characteristics for airborne data acquisition (few hours flying time, straight flight lines, small banking angles) allows for uninterrupted GPS data reception and a clean uninterrupted GPS-determined trajectory. For these particular flight characteristics and GPS data characteristics we have developed a post mission alternative integration method for GPS and IMU data. In this approach the GPS observations get a higher weight compared to conventional integration algorithms and the IMU data primarily serves for the computation of the attitude parameters and for the temporal interpolation of positions. Furthermore, all available data is processed simultaneously. The core of our integration method is a least squares estimation in which the positions and velocities from the GPS measurements are combined with the results of the inertial navigation algorithm to estimate trajectory initial values and the errors of the IMU sensors. This paper describes our alternative integration strategy and provides first studies related to the system behavior for several error components.
机译：斯图加特大学导航研究所利用内部开发的机载激光扫描仪系统（Sca-LARS）来获取地形数据。激光数据的地理参考来自处理差分GPS载波相位数据，并将GPS确定的轨迹与来自“局部测量单元（IMU）”的增量速度和角速率数据进行集成。到目前为止，GPS / IMU集成利用了基于GPS轨迹和IMU测量值的卡尔曼滤波处理的商业软件包。这样的过滤器从收集到的处理时期的所有数据中计算出一组参数的最佳估计值。并且还可以预测该过程的后续进度；它是为实时应用程序设计的，在这种情况下，它提供了最佳解决方案。相反，激光数据（以及通过其他测量方法获取的数据）的地理参考通常在办公室执行任务后进行；不需要实时结果，并且目前仅在对GPS载波相位数据进行后处理时才能满足位置精度优于10cm的要求。此外，机载数据采集的典型飞行特性（几个小时的飞行时间，笔直的飞行路线，较小的倾斜角度）可实现不间断的GPS数据接收和干净的，不间断的GPS确定的轨迹。针对这些特殊的飞行特性和GPS数据特性，我们为GPS和IMU数据开发了任务后替代集成方法。在这种方法中，与传统的积分算法相比，GPS观测值具有更高的权重，IMU数据主要用于姿态参数的计算和位置的时间插值。此外，所有可用数据将同时处理。我们集成方法的核心是最小二乘估计，其中将GPS测量的位置和速度与惯性导航算法的结果结合起来，以估计轨迹初始值和IMU传感器的误差。本文介绍了我们的替代集成策略，并针对几个错误组件提供了与系统行为相关的初步研究。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号