Optics and Precision Engineering, Volume. 29, Issue 12, 2844(2021)

Multi-machine cooperative passive localization based on MEMS/GNSS

Zhi ZHANG1... Hong-qian LU1,*, Xiao-jun BAN1, Xian-lin HUANG1 and Xue-mei LIU2 |Show fewer author(s)
Author Affiliations
  • 1School of Astronautics, Harbin Institute of Technology, Harbin50000, China
  • 2Space Vehicle Survival Technology and Effectiveness Evaluation Laboratory, Beijing100085, China
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    Figures & Tables(9)
    Passive positioning model of double-machine angle measurement
    GDOP contour distribution under typical base station distribution
    Coordinates and velocity errors of federated filter and subsystem EKF
    Comparison of relative distance errors between federated filter and subsystem EKF
    Comparison of relative distance errors between federated filter and EKF of AB subsystem
    Comparison of relative distance errors between federated filter and AC subsystem EKF
    Comparison of relative distance errors between federated filter and centralized filter
    • Table 1. Performance parameters of MEMS and GNSS

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      Table 1. Performance parameters of MEMS and GNSS

      指 标数 值
      陀螺量程/((°)·s-1±400
      角度随机游走/((°)·h-12[0.1051 0.0675 0.0794]

      陀螺零偏稳定性

      /((°)·h-1

      0.5

      陀螺上电重复性

      /((°)·h-1

      4
      加表量程/g±10
      速率随机游走(m·s-1·h-12[0.0720 0.0720 0.0720]
      加表零偏稳定性/mg0.05
      加表上电重复性/mg±0.75之间
      数据更新频率/Hz最大2 000
      定位误差/m[10 10 20]
      测速误差/(m·s-1[0.1 0.1 0.1]
      更新频率/Hz5
    • Table 2. Comparison of relative distance and velocity errors of different positioning algorithms

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      Table 2. Comparison of relative distance and velocity errors of different positioning algorithms

      定位算法AB子系统AC子系统联邦滤波算法
      三角解算EKF三角解算EKF
      相对距离误差均值/m49 253.076 566.875205.19310.79873.229 9
      误差率(误差/距离)/%583.9177.62.500.261.079
      相对速度误差均值/(m·s-1147.4713.87.9411.312.78
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    Zhi ZHANG, Hong-qian LU, Xiao-jun BAN, Xian-lin HUANG, Xue-mei LIU. Multi-machine cooperative passive localization based on MEMS/GNSS[J]. Optics and Precision Engineering, 2021, 29(12): 2844

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    Paper Information

    Category: Micro/Nano Technology and Fine Mechanics

    Received: May. 10, 2021

    Accepted: --

    Published Online: Jan. 20, 2022

    The Author Email: LU Hong-qian (luhongqian@hit.edu.cn)

    DOI:10.37188/OPE.2021.0285

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