Common Frame Based Unscented Quaternion Estimator for Inertial-Integrated Navigation

Kailong Li; Lubin Chang; Yongbing Chen

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Common Frame Based Unscented Quaternion Estimator for Inertial-Integrated Navigation

机译：惯性导航中基于公共框架的无味四元数估计

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This paper explores a modified inertial-integrated navigation approach for the strapdown inertial navigation system and Global Positioning System (SINS/GPS). Since every realization of state error must be expressed with respect to the same coordinate basis, how to express the navigation parameter errors is important, especially for inertial measurement unit (IMU) errors. To this respect, the IMU errors including gyro drift and accelerometer bias expressed in common frame are more reasonable than the unframed one. This paper derives the IMU errors defined with respect to the common frame, thereby extending to propose a common frame based unscented quaternion estimator for the inertial-integrated navigation. The simulation test and car-mounted experiments for a low-cost SINS are shown to assess the performance of the new filter compared with that of the traditional filter.

机译：本文探讨了捷联惯性导航系统和全球定位系统（SINS / GPS）的一种改进的惯性集成导航方法。由于必须以相同的坐标为基础来表示状态误差的每种实现，因此如何表示导航参数误差非常重要，尤其是对于惯性测量单位（IMU）误差。在这方面，在公共框架中表示的IMU错误（包括陀螺仪漂移和加速度计偏差）比未框架的更为合理。本文推导了相对于公共框架定义的IMU误差，从而扩展为基于惯性集成导航的基于公共框架的无味四元数估计器。展示了针对低成本SINS的仿真测试和车载实验，以评估新型滤波器与传统滤波器相比的性能。

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来源
《Mechatronics, IEEE/ASME Transactions on》 |2018年第5期|2413-2423|共11页
作者
Kailong Li; Lubin Chang; Yongbing Chen;
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作者单位

Department of Navigation Engineering, Naval University of Engineering, Wuhan, China;

Department of Navigation Engineering, Naval University of Engineering, Wuhan, China;

Department of Navigation Engineering, Naval University of Engineering, Wuhan, China;

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正文语种 eng
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关键词
Quaternions; Navigation; Estimation; Measurement units; Kalman filters; Matrices; IEEE transactions;

机译：四元数;导航;估计;度量单位;卡尔曼滤波器;矩阵;IEEE事务;

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1. A Quaternion Scaled Unscented Kalman Estimator for Inertial Navigation States Determination Using INS/GPS/Magnetometer Fusion [J] . Wassim Khoder, Bassem Jida Journal of Sensor Technology . 2014,第2期

机译：四元数缩放的无味卡尔曼估计器，用于使用INS / GPS /磁力仪融合的惯性导航状态确定
2. Modified Unscented Quaternion Estimator Based on Quaternion Averaging [J] . Lubin Chang, Baiqing Hu, Guobin Chang Journal of guidance, control, and dynamics . 2014,第1期

机译：基于四元数平均的修正无味四元数估计器
3. A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINS/VNS/GNS Integrated Navigation System [J] . Jia Ke, Pei Yifei, Gao Zhaohui, Mathematical Problems in Engineering . 2019,第PTa11期

机译：用于MINS / VNS / GNS集成导航系统的四元轴的鲁棒自适应球形单纯形Unscented粒子滤波器
4. Velocity integration of strapdown inertial navigation using modified unscented quaternion estimator [C] . Fangjun Qin, Lubin Chang International Conference on Information Fusion . 2017

机译：利用改进的无味四元数估计器进行捷联惯性导航的速度积分
5. Realtime, Decimeter Accuracy Navigation Using Sliding Window Estimator and Autonomous Vehicle Trajectory Tracking Control. [D] . Zhao, Sheng. 2014

机译：使用滑动窗口估计器和自主车辆轨迹跟踪控制的实时，分米精度导航。
6. A New Quaternion-Based Kalman Filter for Human Body Motion Tracking Using the Second Estimator of the Optimal Quaternion Algorithm and the Joint Angle Constraint Method with Inertial and Magnetic Sensors [O] . Yingbo Duan, Xiaoyue Zhang, Zhibing Li 2020

机译：一种新的基于四元的Kalman滤波器用于使用最优季脉算法的第二估计和具有惯性和磁传感器的关节角约束方法的人体运动跟踪
7. An Adaptive Fuzzy Logic Quaternion Scaled Unscented Kalman Filtering for Inertial Navigation System, GPS and Magnetometer Sensors Integration [O] . Wassim Khoder 2014

机译：自适应模糊逻辑四元数缩放了惯性导航系统，GPS和磁力计传感器集成的无创的卡尔曼滤波

Common Frame Based Unscented Quaternion Estimator for Inertial-Integrated Navigation

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