作　　者： ; ; ;

机构地区： 沈阳理工大学机械工程学院

出　　处： 《沈阳理工大学学报》 2012年第6期42-45,50,共5页

摘　　要： 针对直接采用惯性导航系统(SINS)对移动载体实时位置和姿态信息测量精度的问题,采用基于MEMS惯性组件的SINS和GPS作为传感器,以DSP和FPGA分别作为计算和通信器件,来实现松耦合组合导航系统。算法方面,采用扩展卡尔曼滤波器,通过建立SINS误差模型的15维状态变量的系统动态方程,以SINS和GPS的位置和速度作为观测量进行实时滤波估算导航系统的状态量,进而修正系统误差。结果表明,采用卡尔曼滤波算法后,位置误差和速度误差精度能够始终保持在10-2左右上下波动。 To improve the accuracy of mobile carder real-time position and attitude information measured by SINS directly, used as a sensor based on MEMS inertial components of the SINS and GPS,DSP and FPGA as the computing and communications devices, loosely coupled and integrated navigation system is achieved. In algorithm, the Kalman filter is extended. The system dynamic equations of the SINS error model of 15-dimensional state vari- able, by measuring the difference between the SINS and GPS position and velocity as the amount of real-time filtering, the state of the navigation system is estimated, and then the system errors are corrected. The results show that, the accuracy of position error and velocity error can remain at about 10-5 fluctuations by using Kalman filtering method.

关 键 词： 组合导航 松耦合 扩展卡尔曼滤波

领　　域： [自动化与计算机技术] [自动化与计算机技术]