全球定位系统2025，Vol.50Issue(1)：9-17,9.DOI:10.12265/j.gnss.2024156
基于误差状态扩展卡尔曼滤波的GNSS/INS组合导航机载车载船载数据集
GNSS/INS combined navigation airborne/vehicle borne/ship borne dataset based on error state extended Kalman filtering
摘要
Abstract
Aiming at the situation that the direct use of extended Kalman filter(EKF)may lead to the loss of accuracy and the possibility of universal joint deadlock,this paper uses the method of extended Kalman filter based on error state with good linear characteristics to solve the integrated navigation of global navigation satellite system(GNSS)/inertial navigation system(INS),and compares the solution results with the high-precision solution software.In order to verify the effectiveness of the method,this paper has produced and published three sets of integrated navigation data sets,which are vehicle-borne,airborne and ship-borne.The inertial navigation equipment of the data set is Honeywell's HG4930,and the sampling frequency of GNSS data is 5 Hz on board,1 Hz on board and 10 Hz on board.In this paper,the method based on the error state extended Kalman filter(ESKF)is tested on the public data set,and the results are compared and analyzed with the results obtained by the high-precision solution software.Three sets of integrated navigation data sets have been uploaded to the journal system.关键词
GNSS/惯性导航系统(INS)/扩展卡尔曼滤波(EKF)/公开数据集/误差状态扩展卡尔曼滤波(ESKF)Key words
GNSS/inertial navigation system(INS)/extended Kalman filter(EKF)/open data sets/error state extended Kalman filter(ESKF)分类
测绘与仪器引用本文复制引用
尹智慧,党龙飞,魏峥嵘,王胜利..基于误差状态扩展卡尔曼滤波的GNSS/INS组合导航机载车载船载数据集[J].全球定位系统,2025,50(1):9-17,9.基金项目
山东省重点研发计划(竞争性创新平台)项目(2023CXPT054) （竞争性创新平台）
