MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

Canhui Tao,Zhiping Song,Zhenping Weng,Guo Wei

doi:10.1155/2021/4260162

Abstract

In this paper, a robust heading determination method is proposed for low-cost attitude and heading reference system (AHRS) aided by the global positioning system (GPS). As compared with the traditional GPS/SINS-integrated navigation-based heading determination method, in the proposed method, the heading information obtained from the GPS velocity outputs is first incorporated into the observation vector, which constructs a novel completed GPS/SINS integration framework and greatly improves the observability of azimuthal misalignment in the Kalman filter. Moreover, a multivariate constrained total least square (MCTLS) method is proposed and integrated into the completed integration framework to deal with the measurement error in both input and output data of GPS velocity measurement model, which improves the accuracy of the observed heading information and yields a robust heading estimation at each time instant. Simulation and experiment results demonstrate that the proposed robust heading determination method can outperform the related state-of-the-art methods for the GPS-aided attitude and heading reference system.

Highlights

Applied in civilian and military fields, attitude and heading reference system (AHRS) has been attracting significant attention [1,2,3]
The true trajectory of the AHRS is shown in Figures 1. e total simulation time is 480 s. e constant drift and random drift of gyroscope and accelerometer used in the AHRS are, respectively, 12 deg/h, 5 mg and 0.24 deg/sqrt(h), 0.3 m/s2/ sqrt(Hz). e velocity and position error of global positioning system (GPS) used in the AHRS are, respectively, 0.1 m/s and 10 m. e metrics used
We propose in this paper a robust heading determination method for low-cost attitude and heading reference system (AHRS) aided by the global positioning system (GPS)

Summary

Introduction

Applied in civilian and military fields, attitude and heading reference system (AHRS) has been attracting significant attention [1,2,3]. In practical applications, the nonmagnetic working environment cannot always be guaranteed, which will lead to large heading errors, thereby making it necessary to develop an effective method to address the problem of heading correction of the low-cost AHRS under the condition of magnetic distortion. To be specific, thresholdbased approach can contribute to eliminating the magnetic distortion by comparing the measured magnetic field intensity with the threshold value chosen based on the prior knowledge available. The model-based approach can help avoid the determination of the appropriate threshold value, but its performance relies heavily on the accurate magnetic sensor model. In other words, when the external magnetic disturbance does not obey the given model in practical applications, large errors will be caused and the performance of the model-based approach may be destroyed

Methods

Results

Conclusion