车载多传感器组合导航系统设计与实现  

Design and implementation of multi-sensor integrated navigation system of land vehicle

作　　者：徐田来[1] 崔平远[1] 崔祜涛[1] 

机构地区：[1]哈尔滨工业大学深空探测基础研究中心,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2008年第4期686-691,共6页Systems Engineering and Electronics

基　　金：国家"863"高技术研究发展计划资助课题(2006AA12Z305)

摘　　要：针对捷联惯性导航系统(SINS)和全球卫星定位系统(GPS)构成的车载组合导航系统在GPS无效时精度迅速下降的问题,设计了车载SINS/里程计/GPS定位定向仪组合导航系统,使用信息滤波进行SINS误差估计并对SINS作反馈校正。当GPS不可用时,利用里程计辅助SINS。使用基于PC/104的硬件结构和模块化的软件结构,对系统进行了软、硬件的实现。实验结果证明,在GPS无效时间段内,该系统可以抑制SINS误差发散,并把误差限制在较小水平,是一种实用的车载组合导航系统。The accuracy of SINS/GPS-compass will be decreased gradually when GPS is unavailable for a long time. Odometer is commonly used in land vehicles, its measurement of vehicle velocity can be integrated into SINS/GPS-compass to inhibit the divergence of SINS errors when GPS is unavailable. The SINS/Odometer/ GPS-compass integrated navigation system is designed, and information filter is used to fuse these sensors data. The SINS/odometer/GPS-compass system is implemented based on the PC/104 hardware architecture and modular software architecture. The actual experiments have shown that SINS/Odometer/GPS-compass system can inhibit the divergence of SINS errors, maintaining smaller error level than SINS/GPS only, especially during long GPS outages. Those prove that this system is effective and practical.

关 键 词：组合导航 SINS 里程计 GPS定位定向仪 信息滤波 

分 类 号：TN967[电子电信—信号与信息处理]