张乔林,崔昊杨,宋辰羊,王超迪.基于形态学滤波的惯导里程定位方法研究[J].电测与仪表,2021,58(4):78-83. zhangqiaolin,cuihaoyang,songchenyang,wangchaodi.Research on Inertial Navigation Range Location Method Based on Morphological Filtering[J].Electrical Measurement & Instrumentation,2021,58(4):78-83.
基于形态学滤波的惯导里程定位方法研究
Research on Inertial Navigation Range Location Method Based on Morphological Filtering
Aiming at the problem of the influence of abnormal data on the test accuracy during the SINS measurement process, this paper proposes a high-precision inertial navigation method based on morphological filtering. The system firstly uses the proposed triangular morphology filtering method to correct the measurement data of the inertial measurement unit (IMU), reduce the outliers in the measurement data, and then use the astigmatism calibration method based on the odometer calibration to predict the morphological filtering. The processed data is calculated to achieve precise positioning of the measured pipeline path. In order to understand the inertial navigation positioning effect after triangular morphology filtering, a simulation comparison test was carried out on the 104 m pipeline. The analysis of the test results shows that the measurement accuracy of the horizontal direction of the system is increased from 0.58% to 0.29%, which is doubled by the morphological filtering of the triangle. The measurement accuracy in the height direction is increased from 0.096% to 0.077%, an increase of 24.6%, achieved good results.
