GNSS/INS组合用于地震监测的算法实现和仿真研究
|
摘要
本文对GNSS/INS组合系统用于地震监测的方案进行了算法设计和仿真验证。根据地震运动的特点,惯性测量器件只采用三轴加速度计,以简化系统、降低成本;并为此专门设计了惯导算法和松组合架构下的组合算法,包括前向滤波和反向平滑。在建模和仿真中,采用了实测分析得到的GNSS精密定位的准确误差模型,保证了仿真条件的真实性和仿真结果的有效性。研究结果表明,加速度计信息能够改善GNSS的相对定位精度和动态性能,从而有效地测量地震运动。本文是GNSS/INS组合技术用于地震监测的有益尝试。
This paper presents the algorithm design and simulation verification to the method of applying GNSS / INS integrated system for earthquake monitoring.According to the characteristics of earthquake motion , inertial measurement unit ( IMU ) is only composed of tri-axial accelerometer to simplify the hardware and reduce the cost.A specific inertial algorithm and the relevant integration algorithm of loosely-coupled integration are designed , including forward filtering and backward smoothing.The designed algorithm is verified and analyzed through simulation.Accurate error models are applied , which come from analyzing the real-time GNSS precise point positioning result , so as to keep the simulation condition close to real and to make the simulation results convincing.The analysis result indicates that the accelerometer data can improve the GNSS positioning in terms of relative precision and dynamic response , so that the earthquake motion can be effectively measured.The paper is a preliminary trial of applying the GNSS / INS integration technology for the earthquake monitoring.
This paper presents the algorithm design and simulation verification to the method of applying GNSS / INS integrated system for earthquake monitoring.According to the characteristics of earthquake motion , inertial measurement unit ( IMU ) is only composed of tri-axial accelerometer to simplify the hardware and reduce the cost.A specific inertial algorithm and the relevant integration algorithm of loosely-coupled integration are designed , including forward filtering and backward smoothing.The designed algorithm is verified and analyzed through simulation.Accurate error models are applied , which come from analyzing the real-time GNSS precise point positioning result , so as to keep the simulation condition close to real and to make the simulation results convincing.The analysis result indicates that the accelerometer data can improve the GNSS positioning in terms of relative precision and dynamic response , so that the earthquake motion can be effectively measured.The paper is a preliminary trial of applying the GNSS / INS integration technology for the earthquake monitoring.
引文
[1]廖永岩.地球科学原理[M].北京:海洋出版社,2007.
[2]胡聿贤.地震工程学[M].2版.北京:地震出版社,2006.
[3]黄世敏,王亚勇,丁洁民,等.GB50011-2010,建筑抗震设计规范[S].北京:中国建筑工业出版社,2010.
[4]NOVATEL INC.User's Manual of FSAS[EB/OL].[2013-01-15].http://www.novatel.com/assets/Documents/Papers/FSAS.pdf.
[5]NIU Xiao-ji,CHEN Qi-jin.Using Allan Variance to Analyze the Error Characteristics of GNSS Positioning[EB/OL].[2012-12-26].http://www.ion.org/meetings/gnss2012/gnss2012abstracts.cfm.
[6]秦永元.惯性导航[M].北京:科学出版社,2006.
[7]BOCK Y,MELGAR D,CROWELL B W.Real-time Strong-motion Broadband Displacements from Collocated GPS and Accelerometers[J].Bulletin of the Seismological Society of America,2011,101(6):2904-2925.
[8]李睿佳,李荣冰,刘建业,等.卫星/惯性组合导航事后高精度融合算法研究[J].系统仿真学报,2010(增刊1):75-78.
[2]胡聿贤.地震工程学[M].2版.北京:地震出版社,2006.
[3]黄世敏,王亚勇,丁洁民,等.GB50011-2010,建筑抗震设计规范[S].北京:中国建筑工业出版社,2010.
[4]NOVATEL INC.User's Manual of FSAS[EB/OL].[2013-01-15].http://www.novatel.com/assets/Documents/Papers/FSAS.pdf.
[5]NIU Xiao-ji,CHEN Qi-jin.Using Allan Variance to Analyze the Error Characteristics of GNSS Positioning[EB/OL].[2012-12-26].http://www.ion.org/meetings/gnss2012/gnss2012abstracts.cfm.
[6]秦永元.惯性导航[M].北京:科学出版社,2006.
[7]BOCK Y,MELGAR D,CROWELL B W.Real-time Strong-motion Broadband Displacements from Collocated GPS and Accelerometers[J].Bulletin of the Seismological Society of America,2011,101(6):2904-2925.
[8]李睿佳,李荣冰,刘建业,等.卫星/惯性组合导航事后高精度融合算法研究[J].系统仿真学报,2010(增刊1):75-78.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心