车载导航系统中航向信息融合技术研究  

Heading Information Fusion Technology for Vehicle Navigation System

作　　者：孙永荣[1] 胡应东[1] 刘建[1] 韩正超[2] 任爱爱[2] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]北京航天光华电子技术有限公司,北京100854

出　　处：《数据采集与处理》2010年第2期239-244,共6页Journal of Data Acquisition and Processing

摘　　要：为了提高运动载体航向测量的精度,针对角速率陀螺误差随时间积累和磁罗盘易受外界磁干扰的问题,设计了磁罗盘、角速率陀螺和GPS航向信息融合方案。文中分析了磁罗盘、角速率陀螺和GPS的误差特性,进行了误差建模,构建了综合滤波模型,然后根据GPS可能出现的信息失落、遮挡等问题,采用一种能够检测磁罗盘低频磁干扰,并对干扰误差进行剔除的前置检测环节(PDL)。通过仿真实验可知,本文研究的信息融合算法不仅能够有效地抑制磁罗盘高频磁干扰以及角速率陀螺的积累误差,同时也可很好地抑制磁罗盘的低频干扰误差,可以给运动载体提供较高精度的航向信息,且在GPS信号质量不好的情况下,基于PDL的补偿滤波可作为一种辅助方案,保证载体在较长时间内保持较高精度的航向。To enhance the heading measurement accuracy for the moving body, the program of the gyroscope and the magnetic compass integrated with GPS on heading value is designed aimed at the accumulation of errors produced by the gyroscope and the magnetic interference of the magnetic compass. Firstly, a integrated filter model is designed to analyze the error charac- teristics of the gyroscope, the magnetic compass and GPS. Then, considering loss of GPS, a preposed detection link （PDL） is adopted to inhibit the low-frequency magnetic interference of the magnetic compass and to improve the accuracy of the information integration. The simulation with the gyroscope, the magnetic compass and GPS shows that the high-frequency magnetic interference and the accumulation of errors can be inhibited, and the low-frequency interference for long time can also be inhibited by the integrated filter. The compensation filter based on PDL can provid a high accurate heading value for moving body as an aided plan when the GPS signal quality is poor.

关 键 词：补偿滤波 卡尔曼滤波 航向信息融合 磁罗盘 角速率陀螺 GPS 

分 类 号：V241.6[航空宇航科学与技术—飞行器设计]