MIMU/GPS组合导航系统数据同步与融合方法研究  

Data Synchronization and Fusion Method in MIMU/GPS Integrated Navigation System

作　　者：马云峰[1] 周百令[1] 万振刚[1] 赵立业[1] 

机构地区：[1]东南大学仪器科学与工程系,江苏南京210096

出　　处：《中国惯性技术学报》2004年第3期28-31,共4页Journal of Chinese Inertial Technology

摘　　要：给出了以DSP为核心的MIMU/GPS组合导航系统中数据同步与融合的方法,简要介绍了仿真、调试过程中DSP程序的实现方法。采用GPS接收机输出的1PPS脉冲,结合CPLD产生的时序,实现MIMU和GPS数据的同步采集。由于系统噪声难于准确统计,因此采用模糊自适应卡尔曼滤波组合算法进行数据融合。This paper introduces the data synchronization and fusion method in MIMU/GPS integrated navigation system based on digital signal processor. Using the 1PPS signal from GPS receiver and combining the time sequence produced by CPLD, the system realizes the synchronal data collection of MIMU and GPS. Because of the difficulty of presenting the system noise accurately, a fuzzy adaptive Kalman filtering algorithm is adopted to fuse the data from different sensors. The paper also briefly introduces the realization of DSP program in computer simulation and debugging process.

关 键 词：组合导航系统 微型惯性测量单元 卫星定位系统 模糊白适应卡尔曼滤波 同步采集 

分 类 号：TN967.2[电子电信—信号与信息处理]