文档介绍：第21卷第3期中国惯性技术学报 2013年6月 Journal of Chinese Inertial Technology Jun. 2013 收稿日期:2012-11-06;修回日期:2013-03-29 基金项目:国家自然科学基金面上项目(61173076)作者简介:刘华(1978—),女,讲师,从事组合导航研究。E-mail:sogoliu@ 文章编号:1005-6734(2013)03-0392-05Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSSLIU Hua, LIU Tong (School of Automation, Beijing Institute of Technology, Beijing 100081, China)Abstract: The performance of MEMS IMU/GNSS integrated system would degrade with outages of GNSS signal. For land vehicle applications, a federated Kalman filter was established. The quaternion was employed as part of states in one of the local filters. The acceleration constraint derived from quaternion was applied along the vehicle’s body frame to expand observables in the filter. The field test shows that, compared with conventional filtering algorithms, the proposed algorithm brings 25% performance improvement in three-dimension(3D) positioning during 30 s GNSS outages. The accuracy of attitude and velocity is improved as well. Key words: MEMS IMU; GNSS; quaternion; federated Kalman filter MEMS IMU/GNSS 联邦卡尔曼滤波中的基于四元数的约束算法刘华,刘彤(北京理工大学自动化学院,北京 100081)摘要:当全球导航卫星系统(GNSS)失效时,微硅机械(MEMS) 惯性测量单元(IMU)与GNSS组合而成的导航系统性能会下降。针对于陆地车辆的导航应用,建立了一个联邦卡尔曼滤波器,四元数是其中一个局部滤波器的部分待估计状态。四元数所得到推算的沿车辆机体坐标系的加速度约束扩