论文标题
初始态度估计错误对松散耦合的智能手机GPS/IMU集成系统的影响
Effects of Initial Attitude Estimation Errors on Loosely Coupled Smartphone GPS/IMU Integration System
论文作者
论文摘要
全球定位系统（GPS）和惯性测量单元（IMU）传感器通常使用扩展的卡尔曼过滤器（EKF）集成，以实现更好的导航性能。但是，由于非线性，EKF的性能会受到初始状态估计错误的影响，并且随着初始误差的增加，包括态度在内的导航解决方案迅速差异。本文分析了从室外实验获得的数据，并使用EKF研究了初始错误对态度估计性能的影响，EKF用于松散耦合的低成本智能手机GPS/IMU传感器。
Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of the EKF is affected by the initial state estimation errors, and the navigation solutions, including the attitude, diverge rapidly as the initial errors increase. This paper analyzes the data obtained from an outdoor experiment, and investigates the effect of the initial errors on the attitude estimation performance using EKF, which is used in loosely coupled low-cost smartphone GPS/IMU sensors.
