Optics and Precision Engineering, Volume. 29, Issue 12, 2844(2021)
Multi-machine cooperative passive localization based on MEMS/GNSS
Figures & Tables(9)
Fig. 1. Passive positioning model of double-machine angle measurement
Fig. 2. GDOP contour distribution under typical base station distribution
Fig. 3. Coordinates and velocity errors of federated filter and subsystem EKF
Fig. 4. Comparison of relative distance errors between federated filter and subsystem EKF
Fig. 5. Comparison of relative distance errors between federated filter and EKF of AB subsystem
Fig. 6. Comparison of relative distance errors between federated filter and AC subsystem EKF
Fig. 7. Comparison of relative distance errors between federated filter and centralized filter
Table 1. Performance parameters of MEMS and GNSS
View tableView in ArticleTable 1. Performance parameters of MEMS and GNSS
指 标 数 值 陀螺量程/（（°）·s-1） ±400 角度随机游走/（ ［0.1051 0.0675 0.0794］ 陀螺零偏稳定性
/（
0.5 陀螺上电重复性
/（
4 加表量程/g ±10 速率随机游走（ ［0.0720 0.0720 0.0720］ 加表零偏稳定性/mg 0.05 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/Hz 5
Table 2. Comparison of relative distance and velocity errors of different positioning algorithms
View tableView in ArticleTable 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/m 49 253.07 6 566.875 205.193 10.798 73.229 9 误差率（误差／距离）/% 583.91 77.6 2.50 0.26 1.079 相对速度误差均值/（m·s-1） 147.47 13.8 7.941 1.31 2.78
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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
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)
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