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在室内组合定位系统中,不同子系统之间相互姿态关系的确定是通过对准过程实现的。使用惯性器件进行组合定位,通常航姿参考系统AHRS是以地理坐标系(E-N-U)作为导航坐标系。然而,在室内导航任务中,导航坐标系一般根据用户需求建立在厂内标志点或工装坐标系等自定义位置。针对这一问题,提出一种将地理坐标系与自定义坐标系相互转换的新方法,通过激光跟踪仪建立的外部基准,提出了基于方向余弦矩阵的标定算法,实现了地理坐标系与外部参考坐标系之间的相互转换。实验结果表明:AHRS任意位姿下的转换姿态角度均方根误差小于0.25°。
In the indoor combined positioning system, the determination of the mutual attitude between different subsystems is achieved through the alignment process. The use of inertial devices for combined positioning, usually attitude reference system AHRS is a geographic coordinate system (E-N-U) as the navigation coordinate system. However, in the indoor navigation task, the navigation coordinate system is generally based on the user’s requirement to establish a custom position such as a factory marking point or a tool coordinate system. Aiming at this problem, a new method to convert geocentric coordinate system and custom coordinate system is proposed. Based on the external datum established by laser tracker, a calibration algorithm based on direction cosine matrix is proposed, which realizes the combination of geographic coordinate system and external reference Coordinate system between the conversion. The experimental results show that the root mean square error (RMSE) of attitude transitions under any pose of AHRS is less than 0.25 °.