Nonzero velocity interval attitude estimation CKF algorithm based on acceleration compensation for inertial pedestrian navigation

被引：0
|
作者：
Wang X. [1 ]
Dai H. [1 ]
Quan W. [2 ]
Wang R. [1 ]
Jia L. [1 ]
机构：
[1] School of Basic Science for Aviation, Naval Aviation University, Yantai
[2] Unit 92329 of PLA, Huludao
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2023年 / 45卷 / 09期
关键词：
acceleration compensation; attitude estimation; cubature Kalman filter (CKF); inertial navigation; pedestrian navigation;
D O I：
10.12305/j.issn.1001-506X.2023.09.29
中图分类号：
学科分类号：
摘要：
Attitude estimation is the foundation of the navigation computation. In pedestrian navigation system based on foot-bound inertial measurement unit, due to the frequent and violent changes of foot motion acceleration, the accuracy of common attitude fusion algorithms is reduced. In order to reduce the impact of motion acceleration on attitude calculation, the fitting interval that can be used for acceleration compensation is defined through data analysis, the determination method of fitting interval based on zero-speed detection is given, and a first-order fitting compensation scheme is proposed for accelerometer output.The cubature Kalman filter (CKF) algorithm which can complete the subsequent pedestrian navigation attitude estimation task is designed, and the three-sample rotation vector method is used to update the attitude in the non-fitting interval. In the numerical simulation, the proposed algorithm is compared with the pure three-sample rotation vector method, and the accuracy of the algorithm is tested. The effectiveness of the algorithm is verified in the pedestrian navigation experiment. The experiment test results show that the accuracy of CKF attitude estimation with acceleration compensation increases by 35.3% on average in the case of large motion acceleration during walking. In the rectangular closed path test, the horizontal error of starting and ending points decreased by 56.3%, and the height error of starting and ending points decreased by 20.3%. © 2023 Chinese Institute of Electronics. All rights reserved.
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页码：2894 / 2901
页数：7
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