Research on position measurement information fusion technology of moving object

SUN Yong-rong1; HU Ying-dong1; HAN Zheng-chao2; REN Ai-ai2

doi:10.13873/j.1000-97872010.02.006

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Research on position measurement information fusion technology of moving object

更新时间：2025-09-11

- Research on position measurement information fusion technology of moving object
- Vol. 29, Issue 2, Pages: 59-62(2010)
- 作者机构：
  
  1. 南京航空航天大学自动化学院
  2. 北京航天光华电子技术有限公司
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872010.02.006
  CLC： V241.5
- Published：2010
- 稿件说明：
移动端阅览
[1]孙永荣,胡应东,韩正超,任爱爱.运动体方位测量信息融合技术研究[J].传感器与微系统,2010,29(02):59-62.

SUN Yong-rong1, HU Ying-dong1, HAN Zheng-chao2, et al. Research on position measurement information fusion technology of moving object[J]. 2010, 29(2): 59-62.
[1]孙永荣,胡应东,韩正超,任爱爱.运动体方位测量信息融合技术研究[J].传感器与微系统,2010,29(02):59-62. DOI： 10.13873/j.1000-97872010.02.006.

SUN Yong-rong1, HU Ying-dong1, HAN Zheng-chao2, et al. Research on position measurement information fusion technology of moving object[J]. 2010, 29(2): 59-62. DOI： 10.13873/j.1000-97872010.02.006.

摘要

针对角速率陀螺误差随时间积累和磁罗盘易受外界干扰的问题

为了提高运动体方位测量的精度

设计了角速率陀螺和磁罗盘方位信息融合方案。分析了磁罗盘和角速率陀螺的误差特性

进行了误差建模

构建了卡尔曼滤波模型

提出一种能够检测磁罗盘低频干扰

并对干扰误差进行剔除的前置检测环节（PDL）。通过仿真实验可知

该算法不仅能够有效地抑制磁罗盘高频干扰和角速率陀螺的积累误差

同时也可很好地抑制磁罗盘的低频干扰误差

可以给运动体提供较高的方位信息。

Abstract

Aimed at the problem of the accumulation of errors produced by gyroscope and the interference of magnetic compass

in order to enhance the accuracy of bearing measurement for moving body

a direction information scheme integrated gyroscope with magnetic compass was designed.Kalman filter model has been set up to analyze error characteristics of gyroscope and magnetic compass.A Preposed Detection Link（PDL） is proposed to detect low-frequency interference of magnetic compass and to eliminate interference error.Simulation result shows that this algorithm not only restrain high-frequency interference and the accumulation errors of gyro

but also restrain low-frequency interference error.It can provide high precision direction information for moving body.

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references

基于差分磁罗盘的组合航向系统 [J]. 郝振海,黄圣国. 北京航空航天大学学报 . 2008(04)

磁罗盘与光纤陀螺的组合航向测量系统设计 [J]. 李俊,陈剑峰,王雪平. 计算机仿真 . 2008(02)

基于船舶的GPS/单陀螺航向融合算法 [J]. 沙晓萍,陈惠民,鲍敏祺,韩逸昕. 上海大学学报(自然科学版) . 2008(01)

组合航向系统中数字磁罗盘的罗差补偿研究 [J]. 邱丹,黄圣国. 仪器仪表学报 . 2006(S2)

Kalman Filter Approach for Lane Extraction and Following [J] . M. Oussalah,A. Zaatri,H. Van Brussel. Journal of Intelligent and Robotic Systems . 2002 (2)

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