The invention discloses an infrared photoelectric sensor-assisted MEMS (Micro Electro Mechanical System) track positioning method, which comprises the following steps of: firstly, building a distributed optical measurement platform through an infrared photoelectric sensor; the time difference of interruption of the infrared photoelectric sensor and the sub-module position relation calibrated on the test track in advance are used for calculating the position and speed information of the carrier at the moment, and then the difference between the position and speed calculated by the MEMS system and the position and speed information calculated by the distributed optical system is used as basic observation information. Error estimation is carried out by adopting extended Kalman filtering, and MEMS error feedback correction is carried out by utilizing fused error information. According to the method, the photoelectric sensor is introduced to interrupt speed measurement, data fusion is carried out on the extended Kalman filtering algorithm and the MEMS system, and the random error and the accumulative error of the low-cost MEMS can be well inhibited on the premise of not depending on other external information; the method is suitable for an urban high-precision orbit positioning system in weak-signal, high-dynamic and other scenes where satellite lock losing is likely to occur.
本发明公开了一种红外光电传感器辅助的MEMS系统轨道定位方法,该方法首先通过红外光电传感器搭建分布式光学测量平台,利用红外光电传感器中断的时间差及预先在测试轨道上标定好的子模块位置关系推算出运载体此时所处的位置与速度信息,然后以MEMS系统解算的位置、速度与分布式光学系统推算的位置、速度信息之差作为基本观测信息,采用扩展卡尔曼滤波进行误差估计,利用融合后的误差信息对MEMS误差反馈校正。本方法引入光电传感器中断测速通过扩展卡尔曼滤波算法与MEMS系统进行数据融合,在不依赖其他外部信息的前提下能较好地抑制低成本MEMS的随机误差与累积误差,适用于微弱信号、高动态等易出现卫星失锁场景下的城市高精度轨道定位系统。
MEMS track positioning method assisted by infrared photoelectric sensor
一种红外光电传感器辅助的MEMS轨道定位方法
2023-03-28
Patent
Elektronische Ressource
Chinesisch
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