影响因子：5.0
发表刊物：Remote Sensing
关键字：singular value decomposition; cubature Kalman filter; GNSS/MIMU integration; dual antennas; different GNSS
摘要：In complex urban environments, a single Global Navigation Satellite System (GNSS) is often not ideal for navigation due to a lack of sufficient visible satellites. Additionally, the heading angle error of a GNSS/micro-electro-mechanical system–grade inertial measurement unit (MIMU) tightly coupled integration based on the single antenna is large, and the attitude angle, velocity, and position calculated therein all have large errors. Considering the above problems, this paper designs a tightly coupled integration of GNSS/MIMU based on two GNSS antennas and proposes a singular value decomposition (SVD)-based robust adaptive cubature Kalman filter (SVD-RACKF) according to the model characteristics of the integration. In this integration, the high-accuracy heading angle of the carrier is obtained through two antennas, and the existing attitude angle information is used as the observation to constrain the filtering estimation. The proposed SVD-RACKF uses SVD to stabilize the numerical accuracy of the recursive filtering. Furthermore, the three-stage equivalent weight function and the adaptive adjustment factor are constructed to suppress the influence of the gross error and the abnormal state on the parameter estimation, respectively. A set of real measured data was employed for testing and analysis. The results show that dual antennas and dual systems can improve the positioning performance of the integrated system to a certain extent, and the proposed SVD-RACKF can accurately detect the gross errors of the observations and effectively suppress them. Compared with the cubature Kalman filter, the proposed filtering algorithm is more robust, with higher accuracy and reliability of parameter estimation.
论文类型：期刊论文
论文编号：1943
学科门类：工学
一级学科：测绘科学与技术
文献类型：J
卷号：13
期号：10
是否译文：否
发表时间：2021-05-16
收录刊物：SCI
发布期刊链接：https://doi.org/10.3390/rs13101943