gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»gyroscopy-444Research ArticleСтатьиРазработка системы оценивания ориентации объекта с использованием инерциальных, магнитных и фазовых спутниковых измерений для навигации транспортных средствКисЛ.

Кис Ласло, младший преподаватель 

ЛантосБ.

Лантос Бела, почетный профессор             

Будапештский Университет технологии и экономики, Факультет автоматического управления и информационных технологийHungaryБудапештский Университет технологии и экономикиHungary2014290120262221327Copyright © Кис Л., Лантос Б., 20262026Кис Л., Лантос Б.Кис Л., Лантос Б.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/444

Представлена система оценивания состояния объекта при решении задачи определения ориентации в реальном времени с использованием инерциальных датчиков, магнитных датчиков и GPS-приемников с функцией измерения фазы несущей. Основное внимание уделено решению задачи определения ориентации. Описан метод разрешения целочисленной неоднозначности фазы несущей в реальном времени. В алгоритме оценки состояния используется двухуровневый обобщенный фильтр Калмана. Результаты работы метода проверяются в реальном движении на автомобиле и на планере.

This paper presents a real-time state estimation system for outdoor vehicles using inertial sensor, magnetic sensor and GPS receivers with carrier phase measurement capability. The article concentrates on the precise orientation. A sensor calibration is presented. A real-time method for carrier phase integer ambiguity determination is described. The state estimation algorithm is a two level extended Kalman filter. The results are tested for real movement of a car and a sail-plane.

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The authors declare that there are no conflicts of interest present.