微小型IMU/GPS组合定位定向系统研究

基金项目: 国家自然科学基金资助项目(50279005)；地球空间环境与大地测量教育部重点实验室开放研究基金资助项目

详细信息

MEMS IMU and GPS Integration for Positioning and Direction Finding System

¹ Institute of Satellite Navigation and Spatial Information System, Hehai University, 1 Xikang Road , Nanjing 210098, China;² Sichuan Provincial Communications Department Highway Planning Survey Design and Research Institute, 1 Wuhouci Road,Chengdu 610041,China

Funds: 国家自然科学基金资助项目(50279005)；地球空间环境与大地测量教育部重点实验室开放研究基金资助项目

摘要: 介绍了一种低成本微小型惯性测量组件(inertialmeasurementunit,IMU)和双天线GPS构成的组合定位定向系统。为确保组合系统的实时性和滤波稳定性,提出了一种基于UD分解的快速卡尔曼滤波算法,给出了IMU/GPS组合系统的软硬件设计和实验结果。该组合系统应用于炮兵测地车,具有成本低、精度高等优点,能够提高炮兵测地保障的精度和速度。
- GPS /
- 惯性测量组件(IMU) /
- 惯性导航系统 /
- 组合导航系统
Abstract: This paper describes the design and implementation of an integrated MEMS IMU and two-antenna GPS system for artillery vehicles. The two-antenna GPS is developed to accurately estimate the vehicle azimuth, and the integrated IMU/GPS provides attitude, position and velocity. To ensure numerical stability and real-time navigation, the faster Kalman filter based on UD factorization is presented in this paper. This research is aimed at producing a low-cost navigation system for artillery vehicles. Thus, an inexpensive solid-state MEMS IMU is used. A prototype system is built and tested, and testing results are given in this paper.
- GPS /
- IMU /
- INS /
- integrated navigation system