Модели стохастических погрешностей инерциальных датчиков смартфонов, учитывающие динамику движения

Проведено исследование стохастических погрешностей инерциальных датчиков на основе технологии микроэлектромеханических систем (МЭМС) в статических и динамических условиях. В качестве образцов использовались датчики инерциальных измерительных модулей (ИИМ) двух моделей смартфонов. Оценка характеристик стохастических погрешностей производилась двумя методами: методом вариации Аллана (ВА) и обобщенным методом моментов вейвлетов (ОММВ). Параметры модели, определенные в динамических условиях в лаборатории, сопоставляются с параметрами, полученными на неподвижном основании. В используемых для идентификации моделей реализациях исключены аномальные данные на основе доверительного интервала (ДИ). Предложен новый алгоритм инерциально-спутниковой навигационной системы ИНС/GPS, адаптивный к динамике движения. Представлен анализ эффективности использования различных стохастических моделей на основе ВА и ОММВ с применением смоделированных данных инерциально-спутниковой навигационной системы при пропадании сигналов GPS. Анализ выполнен с помощью предложенного алгоритма. Точность определения местоположения, полученная с помощью адаптивного алгоритма комплексирования ИНС/GPS, превосходит точность, достигнутую при использовании стандартного алгоритма комплексирования ИНС/GPS на основе статической модели погрешностей. Кроме того, модели стохастической погрешности, полученные на основе ОММВ, показывают лучшие результаты, чем модели на основе ВА.

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