Underground multi-sensor integrated navigation system
| Autor: | ZHANG Yuangang, LIU Kun, BAI Meng, PENG Jiguo |
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| Jazyk: | čínština |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | Gong-kuang zidonghua, Vol 45, Iss 7, Pp 10-16 (2019) |
| Druh dokumentu: | article |
| ISSN: | 1671-251X 1671-251x |
| DOI: | 10.13272/j.issn.1671-251x.17432 |
| Popis: | In view of problems of high cost of high-precision inertial navigation of underground vehicle and large drift of low-cost MEMS inertial sensor, an underground multi-sensor integrated navigation system was proposed, which uses bluetooth ranging information, MEMS inertial sensor and vehicle odometer information for integrated navigation. The system uses Kalman filter technology to fuse multi-sensor data, combines Bluetooth ranging information to suppress MEMS inertial sensor drift, and improve positioning accuracy of inertial sensor in a period of time; Vehicle position is predicted by MEMS inertial sensor to effectively filter out Bluetooth signal of interference tags, so as to improves data reliability; Integration of odometer data can make the positioning result more stable and reliable. The test results show that the positioning error of every 10 m is less than 3.2 m under the condition that the underground Bluetooth tags are distributed 10 m apart, which can meet requirements of underground navigation. |
| Databáze: | Directory of Open Access Journals |
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