(window.webpackJsonp=window.webpackJsonp||[]).push([[290],{611:function(t,a,_){"use strict";_.r(a);var e=_(10),s=Object(e.a)({},(function(){var t=this,a=t._self._c;return a("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[a("h1",{attrs:{id:"aid-开关说明"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#aid-开关说明"}},[t._v("#")]),t._v(" AID 开关说明")]),t._v(" "),a("p",[t._v("在 Config 面板的 "),a("strong",[t._v("AID")]),t._v(" 区可配置 SPKF 所用的融合开关，各开关说明如下。")]),t._v(" "),a("fdi-img",{attrs:{width:"100%",alt:"IMU",src:"/fdigroundstation/spkf/图片1.png",caption:""}}),t._v(" "),a("table",[a("thead",[a("tr",[a("th",{staticStyle:{"text-align":"left"}},[a("strong",[t._v("开关类型")])]),t._v(" "),a("th",{staticStyle:{"text-align":"left"}},[a("strong",[t._v("说明")])])])]),t._v(" "),a("tbody",[a("tr",[a("td",{staticStyle:{"text-align":"left"}},[a("a",{attrs:{href:"#aid-accel-gravity"}},[t._v("AID_ACCEL_GRAVITY")])]),t._v(" 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"),a("h3",{attrs:{id:"aid-bro-alt-update"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#aid-bro-alt-update"}},[t._v("#")]),t._v(" AID_BRO_ALT_UPDATE")]),t._v(" "),a("p",[t._v("使用气压高度计信息辅助导航。")]),t._v(" "),a("h3",{attrs:{id:"aid-car-cent-accel-nhc-enabled"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#aid-car-cent-accel-nhc-enabled"}},[t._v("#")]),t._v(" AID_CAR_CENT_ACCEL_NHC_ENABLED")]),t._v(" "),a("p",[t._v("汽车向心加速度非完整性约束（NHC）开关。适用于前轮导向的汽车应用，可利用汽车动力学约束提升性能。使用前须完成 IMU 安装角校准，以及里程计杆臂校准（即使当前未使用里程计）。"),a("strong",[t._v("不满足该载体模型时禁止开启。")])]),t._v(" "),a("h3",{attrs:{id:"aid-car-yz-zero-vel-nhc-enabled"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#aid-car-yz-zero-vel-nhc-enabled"}},[t._v("#")]),t._v(" AID_CAR_YZ_ZERO_VEL_NHC_ENABLED")]),t._v(" "),a("p",[t._v("汽车载体坐标系 Y、Z 轴零速非完整性约束开关。同样适用于前轮导向汽车应用，使用前须完成 IMU 安装角与里程计杆臂校准（即使未使用里程计）。"),a("strong",[t._v("不满足该载体模型时禁止开启。")])]),t._v(" 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"),a("h3",{attrs:{id:"aid-zero-vel-update"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#aid-zero-vel-update"}},[t._v("#")]),t._v(" AID_ZERO_VEL_UPDATE")]),t._v(" "),a("p",[t._v("模组判定静止时，将 NED 速度拉至零，用于抑制导航误差。")]),t._v(" "),a("h2",{attrs:{id:"_9-轴融合与绝对航向"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#_9-轴融合与绝对航向"}},[t._v("#")]),t._v(" 9 轴融合与绝对航向")]),t._v(" "),a("h3",{attrs:{id:"磁力计融合-9-轴"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#磁力计融合-9-轴"}},[t._v("#")]),t._v(" 磁力计融合（9 轴）")]),t._v(" "),a("p",[t._v("下图为 9 轴融合配置示例。相对 6 轴配置，增加了 "),a("strong",[t._v("AID_MAG_3D_MAGNETIC")]),t._v(" 磁力计融合开关（也可开启 "),a("strong",[t._v("AID_MAG_2D_MAGNETIC")]),t._v("，二者任选其一；算法不同，但均用磁力计做航向融合）。开启前须完成磁力计软磁、硬磁校准，详见 "),a("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/magCal.html"}},[t._v("磁力计校准说明")]),t._v("。")],1),t._v(" "),a("fdi-img",{attrs:{width:"100%",alt:"9轴融合 AID 配置示例",src:"/fdigroundstation/spkf/图片2.png",caption:""}}),t._v(" "),a("p",[t._v("若使用环境磁干扰较大，开启 "),a("strong",[t._v("AID_MAG_3D_MAGNETIC")]),t._v(" 可能导致航向估计错误。可在 Data 界面 IMU 数据表中查看 "),a("strong",[t._v("IMU.MAG Magnitude")]),t._v("：磁场稳定时，该值通常接近当地磁场强度（约 0.5 高斯）。")]),t._v(" "),a("h3",{attrs:{id:"不使用磁力计获取绝对航向"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#不使用磁力计获取绝对航向"}},[t._v("#")]),t._v(" 不使用磁力计获取绝对航向")]),t._v(" "),a("p",[t._v("在已接入 GNSS（内置或外接）时，也可不依赖磁力计获得绝对航向，常见有三种方式：")]),t._v(" "),a("ol",[a("li",[a("p",[a("strong",[t._v("GNSS 组合导航")]),a("br"),t._v("\nAID 配置与 6 轴融合相同：上电可用磁力计初始化航向，再通过 GNSS 速度、位置融合修正航向。当载体频繁且明显加速（如转弯）时，输出航向会逐步收敛到真实航向。")])]),t._v(" "),a("li",[a("p",[a("strong",[t._v("GNSS 航迹角融合")]),a("br"),t._v("\n开启 "),a("strong",[t._v("AID_GNSS_TRACK_HEADING_UPDATE")]),t._v("，用 GNSS 航迹角融合。通常需具备一定速度（大于约 2 m/s）才能得到可用航向估计；速度越快，航向精度越高。同时要求载体前进时无明显侧滑。例如飞机受侧风漂移时，用 GNSS 航迹角可能得到错误航向。")])]),t._v(" "),a("li",[a("p",[a("strong",[t._v("GNSS 双天线航向融合")]),a("br"),t._v("\n具备双天线测向能力的型号（如内置双天线的 DETA100 / EPSILON / Sigma 等，或可外接双天线 GNSS 的 N 系列等）可开启 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