基于光纤陀螺的DGPS/DR组合导航定位系统的设计与实现  

Design and Realization of DGPS/DR Integrated Navigation and Positioning System Based on Fiber Optic-gyro

作　　者：魏鹏[1] 张志强[1] 张春熹[1] 厉秉强[2] 杜强[3] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京市100191 [2]国家电网公司机器人重点实验室,山东济南250002 [3]山东电力集团公司潍坊供电公司,山东潍坊261041

出　　处：《计算机测量与控制》2010年第6期1394-1396,1400,共4页Computer Measurement &Control

基　　金：国家电网公司资助项目

摘　　要：针对导航定位系统是变电站设备巡检机器人的关键技术之一,设计了一种由光纤陀螺仪、里程仪、加速度计、差分GPS和FPGA/DSP构成的导航计算机组成的硬件系统,并基于差分GPS定位、航位推算(DR)导航原理设计了该组合导航系统软件,系统采用了初始自寻北、切换式组合导航定位方式,该方法简单易行、实用性较强,实验表明该系统能为变电站设备巡检机器人提供连续、实时、较高精度的导航定位。The navigation and positioning system is the key technology for the robot in the transformer substation to inspect the equipment. Therefore, the paper made up the hardware system, which consists of the fiber optic--gyro （FOG）. milemeter, aceelerometer. DGPS receiver and the navigation computer based on FPGA/DSP. Also, the software of this integrated navigation and orientation system was designed based on the differential GPS （DGPS） and Dead Reckoning （DR） principle, the system adopts the method of the self--north-- seeker and switching--integrated navigation. The method is simple and easily feasible, meanwhile, the system has good practicability. The experiment indicates that this system provides to the robot of inspecting the equipment in the transformer substation with continuous, real-- time, accurate navigation and position.

关 键 词：巡检机器人 组合导航系统 航位推算 FPGA/DSP 光纤陀螺 

分 类 号：V249[航空宇航科学与技术—飞行器设计]