海洋测绘2023，Vol.43Issue(6)：51-55,5.DOI:10.3969/j.issn.1671-3044.2023.06.012
基于智能手机的船载组合导航算法
Shipboard integrated navigation algorithm based on smartphone
摘要
Abstract
The abundance of built-in sensors in smartphone has inspired ubiquitous navigation applications,but most of the current smartphone integrated navigation research is focused on terrestrial environments,with less research on water and marine environments.In this paper,we design a multi-sensor fusion algorithm based on GNSS,accelerometer and gyroscope integrated navigation,supplemented by magnetometer and barometer to achieve high-precision positioning and navigation in shipboard scene of smartphones,propose a method to detect turning motion based on the magnetometer data of smartphone,and construct a noise adaptive motion constraint model based on ship motion state,then introduce the magnetometer-based yaw constraint and barometer-based altitude constraint.By analyzing the data on shipboard,the experiments show that the success rate of magnetometer-based turning detection is as high as 96.94％.Compared with the traditional algorithm without constraint information,the horizontal accuracy of the proposed algorithm can reach 1.29m,which is improved by about 12.24％,and the yaw accuracy can reach 1.75° increasing by about 50.28％,basically meeting the positioning and navigation requirements of ships.关键词
组合导航/船载场景/智能手机/运动约束/转弯检测Key words
integrated navigation/shipboard scene/smartphones/motion constraint/turning detection分类
天文与地球科学引用本文复制引用
白腾飞,柴洪洲,田祥雨,郑乃铨,蔡莹莹..基于智能手机的船载组合导航算法[J].海洋测绘,2023,43(6):51-55,5.基金项目
国家自然科学基金(42074014). （42074014）
