Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting Base
Accurate estimation of orientation is very important in the field of inertial navigation. With the development of the technology of micro electro mechanical systems (MEMS), suppressing the influence of a gyro drift by means of continuous rotation (“carouseling”) has become a re...
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doaj-d9068994501d447f9a026497cfdae6c32021-04-05T17:10:32ZengIEEEIEEE Access2169-35362019-01-017962159622210.1109/ACCESS.2019.29296458765725Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting BaseHaifeng Xing0https://orcid.org/0000-0001-6497-3969Zhiyong Chen1Xinxi Zhang2Haotian Yang3Meifeng Guo4Department of Precision Instrument, Tsinghua University, Beijing, ChinaDepartment of Precision Instrument, Tsinghua University, Beijing, ChinaWeapons and Control Department, Army Academy of Armored Forces, Beijing, ChinaDepartment of Precision Instrument, Tsinghua University, Beijing, ChinaDepartment of Precision Instrument, Tsinghua University, Beijing, ChinaAccurate estimation of orientation is very important in the field of inertial navigation. With the development of the technology of micro electro mechanical systems (MEMS), suppressing the influence of a gyro drift by means of continuous rotation (“carouseling”) has become a research hotspot. However, most of the current studies are still experiments conducted on the horizontal plane but carrying out north-seeking research on non-horizontal planes is also much valuable because it is common in practical scenarios, such as in the mining and drilling environment. In this paper, a feasible dynamic north-finder method for a micro inertial measurement unit (MIMU) based on the MEMS technology on a tilting plane is proposed. The fast Fourier transform (FFT) algorithm is used to analyze the appropriate rotation rate, and the tilting angle and heading angle are calculated in real time by an optimal weighted fusion based on recursive least squares (OWFBRLS) algorithm. Higher-precision orientation results can be achieved through the introduction of the optimal weighted fusion (OWF) theory. This paper demonstrates the experimental method and data processing in detail. The experimental results indicate that the proposed algorithm can provide accurate inclinations and headings, and the standard deviation (SD) of heading angle can reach approximately 0.6° in 3 minutes, which is superior to the methods in the literature and still has high precision in the case of large tilting angles. These profound results prove the feasibility and effectiveness of the proposed method.https://ieeexplore.ieee.org/document/8765725/MIMUoptimal weighted fusionrecursive least squaresfast Fourier transformdynamic north-findingtilting base |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Haifeng Xing Zhiyong Chen Xinxi Zhang Haotian Yang Meifeng Guo |
spellingShingle |
Haifeng Xing Zhiyong Chen Xinxi Zhang Haotian Yang Meifeng Guo Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting Base IEEE Access MIMU optimal weighted fusion recursive least squares fast Fourier transform dynamic north-finding tilting base |
author_facet |
Haifeng Xing Zhiyong Chen Xinxi Zhang Haotian Yang Meifeng Guo |
author_sort |
Haifeng Xing |
title |
Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting Base |
title_short |
Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting Base |
title_full |
Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting Base |
title_fullStr |
Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting Base |
title_full_unstemmed |
Optimal Weighted Fusion Based on Recursive Least Squares for Dynamic North-Finding of MIMU on a Tilting Base |
title_sort |
optimal weighted fusion based on recursive least squares for dynamic north-finding of mimu on a tilting base |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
Accurate estimation of orientation is very important in the field of inertial navigation. With the development of the technology of micro electro mechanical systems (MEMS), suppressing the influence of a gyro drift by means of continuous rotation (“carouseling”) has become a research hotspot. However, most of the current studies are still experiments conducted on the horizontal plane but carrying out north-seeking research on non-horizontal planes is also much valuable because it is common in practical scenarios, such as in the mining and drilling environment. In this paper, a feasible dynamic north-finder method for a micro inertial measurement unit (MIMU) based on the MEMS technology on a tilting plane is proposed. The fast Fourier transform (FFT) algorithm is used to analyze the appropriate rotation rate, and the tilting angle and heading angle are calculated in real time by an optimal weighted fusion based on recursive least squares (OWFBRLS) algorithm. Higher-precision orientation results can be achieved through the introduction of the optimal weighted fusion (OWF) theory. This paper demonstrates the experimental method and data processing in detail. The experimental results indicate that the proposed algorithm can provide accurate inclinations and headings, and the standard deviation (SD) of heading angle can reach approximately 0.6° in 3 minutes, which is superior to the methods in the literature and still has high precision in the case of large tilting angles. These profound results prove the feasibility and effectiveness of the proposed method. |
topic |
MIMU optimal weighted fusion recursive least squares fast Fourier transform dynamic north-finding tilting base |
url |
https://ieeexplore.ieee.org/document/8765725/ |
work_keys_str_mv |
AT haifengxing optimalweightedfusionbasedonrecursiveleastsquaresfordynamicnorthfindingofmimuonatiltingbase AT zhiyongchen optimalweightedfusionbasedonrecursiveleastsquaresfordynamicnorthfindingofmimuonatiltingbase AT xinxizhang optimalweightedfusionbasedonrecursiveleastsquaresfordynamicnorthfindingofmimuonatiltingbase AT haotianyang optimalweightedfusionbasedonrecursiveleastsquaresfordynamicnorthfindingofmimuonatiltingbase AT meifengguo optimalweightedfusionbasedonrecursiveleastsquaresfordynamicnorthfindingofmimuonatiltingbase |
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1721540186443087872 |