东南大学学报（英文版）2021，Vol.37Issue(2)：192-198,7.DOI:10.3969/j.issn.1003-7985.2021.02.009
基于随机森林算法的传感器融合航向角估计
Sensor fusion for heading angle estimation based on random forest algorithm
摘要
Abstract
To improve the accuracy of the calculation of a heading angle under magnetic interference,magnetometers and inertial measurement units (IMUs) were fused.The observation value of the heading angle was deduced on the basis of the modeling of the magnetometer error and the analysis of the relation of the magnetometer triaxial output and the distribution characteristics of the magnetic field at two adjacent time periods.Meanwhile,the gyro state and angular velocity increment were used as the basis of the IMU to calculate the prediction value of the heading angle.With the changes in the heading angle and environmental interference,a random forest (RF) algorithm was used to iteratively calculate the weights to fuse the observation value of the heading angle based on the magnetometer and the prediction value of the heading angle based on the IMU.The results show that relative to the common sensor fusion method,the proposed sensor fusion method based on the RF algorithm achieved an approximate 60％ improvement in heading angle accuracy.Hence,the proposed method can effectively improve the accuracy of the heading angle under magnetic interference by using an RF algorithm to calculate the output weights of the magnetometer and IMU.关键词
磁力计/惯性测量单元/融合/航向角/磁干扰Key words
magnetometer/inertial measurement unit/fusion/heading angle/magnetic interference分类
信息技术与安全科学引用本文复制引用
王冬生,王严,周颖,蒋国平..基于随机森林算法的传感器融合航向角估计[J].东南大学学报（英文版）,2021,37(2):192-198,7.基金项目
The National Natural Science Foundation of China(No.51708299). （No.51708299）
