TY - GEN
T1 - Study on the low-cost SINS/MR tightly-coupled navigation technique
AU - Zhou, Xiaohong
AU - Chao, Daihong
AU - Song, Lailiang
PY - 2013
Y1 - 2013
N2 - Focusing on the limitations of the low-cost strapdown inertial navigation system (SINS) which just can provide accurate navigation information during a short time, and considering the passive navigation demand in war, a low-cost SINS/Magnetometer (MR) tightly-coupled navigation system based on the Kalman filter is proposed. Because MR is easily affected by the magnetic field around to generate the magnetic deviation, the tightly-coupled Kalman filter is used to evaluate and compensate the magnetic deviation parameters through the WMM2010 magnetic model and the horizontal attitude provided by the SINS. As a result, the accuracy of heading attitude output by the MR has increased. Furthermore, the precision of the low-cost SINS/MR tightly-coupled navigation system is improved. Finally, the field-test over 25 minutes verifies the algorithm: the position, velocity and heading errors provided by the tightly-coupled navigation system are less than 10 m, 0.2 m/s and 0.3 deg. So the system offers significant contribution to the practical engineering application.
AB - Focusing on the limitations of the low-cost strapdown inertial navigation system (SINS) which just can provide accurate navigation information during a short time, and considering the passive navigation demand in war, a low-cost SINS/Magnetometer (MR) tightly-coupled navigation system based on the Kalman filter is proposed. Because MR is easily affected by the magnetic field around to generate the magnetic deviation, the tightly-coupled Kalman filter is used to evaluate and compensate the magnetic deviation parameters through the WMM2010 magnetic model and the horizontal attitude provided by the SINS. As a result, the accuracy of heading attitude output by the MR has increased. Furthermore, the precision of the low-cost SINS/MR tightly-coupled navigation system is improved. Finally, the field-test over 25 minutes verifies the algorithm: the position, velocity and heading errors provided by the tightly-coupled navigation system are less than 10 m, 0.2 m/s and 0.3 deg. So the system offers significant contribution to the practical engineering application.
KW - Kalman filter
KW - Low-cost strapdown inertial navigation system (SINS)
KW - Magnetic deviation
KW - Magnetometer(MR)
KW - Tightly-coupled
UR - https://www.scopus.com/pages/publications/84894316024
U2 - 10.1109/TENCON.2013.6718844
DO - 10.1109/TENCON.2013.6718844
M3 - 会议稿件
AN - SCOPUS:84894316024
SN - 9781479928262
T3 - IEEE Region 10 Annual International Conference, Proceedings/TENCON
BT - 2013 IEEE International Conference of IEEE Region 10, IEEE TENCON 2013 - Conference Proceedings
T2 - 2013 IEEE International Conference of IEEE Region 10, IEEE TENCON 2013
Y2 - 22 October 2013 through 25 October 2013
ER -