复杂环境磁转向检测HDE辅助的RTK+IEZ行人定位方法

doi:10.13474/j.cnki.11-2246.2022.0149

测绘通报 ›› 2022, Vol. 0 ›› Issue (5): 101-105,149.doi: 10.13474/j.cnki.11-2246.2022.0149

复杂环境磁转向检测HDE辅助的RTK+IEZ行人定位方法

张超, 江金光, 吴家骥, 谢东朋, 严培辉

武汉大学卫星导航定位技术研究中心, 湖北武汉 430079

收稿日期:2021-06-10 发布日期:2022-06-08
通讯作者: 江金光。E-mail:jinguang@whu.edu.cn
作者简介:张超(1998-),男,硕士,主要研究方向为多源融合导航定位。E-mail:2019206180002@whu.edu.cn
基金资助:
国家重点研发计划"地球观测与导航"重点专项(2018YFB0505200;2018YFB0505201)

RTK+IEZ pedestrian position method aided by magnetometer turn-detection HDE for harsh environment

ZHANG Chao, JIANG Jinguang, WU Jiaji, XIE Dongpeng, YAN Peihui

GNSS Research Center, Wuhan University, Wuhan 430079, China

Received:2021-06-10 Published:2022-06-08

摘要/Abstract

摘要： 针对复杂环境下传统INS-EKF-ZUPT (IEZ)方法中存在位置及航向误差累积导致定位精度差的问题,本文提出一种能与RTK一同融入IEZ中的磁转向启发式航向约束(MTHDE)算法,并结合该算法设计了一种适用于四正交主方向场景的RTK+IEZ+MTHDE行人定位方法。在具有开阔地带、林荫道、林荫道及建筑半遮挡、室内等场景的约800 m矩形试验轨迹中,对该方法进行了验证。结果表明,RTK及MTHDE算法对IEZ的位置及航向进行了有效的修正,在12个参考点的试验轨迹中,该方法的平均平面定位误差为1.35 m,优于传统RTK+IEZ方法。

关键词: 足绑式, 启发式航向约束, 惯性导航, 组合导航, RTK

Abstract: The accumulation of position and heading errors of traditional INS-EKF-ZUPT (IEZ) method will make the position accuracy deteriorate rapidly in harsh environment. Therefore, a magnetometer turn-detection heuristic drift elimination (MTHDE) algorithm which can be integrated with RTK into IEZ is proposed, and a RTK+IEZ+MTHDE pedestrian position method for environment with four orthogonal main directions is designed. The RTK+IEZ+MTHDE pedestrian position method is verified in an approximately 800 m rectangular experimental trajectory with open areas, tree-lined roads, semi-occluded buildings, and indoor environment. The results show that RTK and MTHDE algorithms reduce the position and heading errors of IEZ, in the experimental trajectory of 12 reference points, the average plane positioning error of RTK+IEZ+MTHDE method is 1.35 m, which is better than traditional RTK+IEZ method.

Key words: foot-mounted, heuristic drift elimination, inertial navigation, integrated navigation, RTK

中图分类号:

P258

张超, 江金光, 吴家骥, 谢东朋, 严培辉. 复杂环境磁转向检测HDE辅助的RTK+IEZ行人定位方法[J]. 测绘通报, 2022, 0(5): 101-105,149.

ZHANG Chao, JIANG Jinguang, WU Jiaji, XIE Dongpeng, YAN Peihui. RTK+IEZ pedestrian position method aided by magnetometer turn-detection HDE for harsh environment[J]. Bulletin of Surveying and Mapping, 2022, 0(5): 101-105,149.

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复杂环境磁转向检测HDE辅助的RTK+IEZ行人定位方法

RTK+IEZ pedestrian position method aided by magnetometer turn-detection HDE for harsh environment

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