嵌入式GPS/MIMU/磁罗盘组合导航系统  

Embedded integrated GPS/MIMU/compass navigation system

作　　者：蔡体菁[1,2] 刘莹[1,2] 宋军[3] 刘勇[3] 祝燕华[1,2] 

机构地区：[1]东南大学微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]东南大学仪器科学与工程学院,南京210096 [3]中国电子科技集团公司第26研究所,重庆400060

出　　处：《仪器仪表学报》2010年第12期2695-2699,共5页Chinese Journal of Scientific Instrument

基　　金：国家863计划(2006AA12Z302)资助项目

摘　　要：研制出基于FPGA和DSP的嵌入式GPS/MIMU/磁罗盘组合导航系统。该系统硬件由石英微机械陀螺仪、石英挠性加速度计、GPS接收机、数字磁罗盘和基于FPGA和DSP的高速导航计算机模块等组成。在该系统软件方面,采用圆锥误差补偿与划船误差补偿的现代捷联导航算法和含传感器噪声模型的18维扩展Kalman滤波器,并利用惯性传感器和MIMU导航信息对GPS和磁罗盘信号进行质量控制。经车载试验结果表明,该组合导航系统水平姿态误差小于0.2°,航向角误差小于0.3°,定位精度小于3m。An embedded integrated GPS/MIMU/compass navigation system was developed based on FPGA and DSP.The system hardware consists of quartz MEMS gyroscope,flexible quartz accelerometers,GPS receiver,digital magnetic compass,FPGA,DSP-based high-speed navigation computer modules and etc.The strapdown navigation algorithm,adopting coning correction quaternion calculation and sculling compensation,and extended Kalman filter with 18 state variables,containing sensor noise model,are introduced in the integrated algorithm.Inertial sensors and MIMU navigation information are used to control the quality of GPS and magnetic compass signals.Experimental testing of the integrated system was performed in land vehicle.Results show that the horizontal attitude error is less than 0.2°,head error is not larger than 0.3°,and positioning error is within 3 meters.

关 键 词：GPS 微惯性测量单元 磁罗盘 组合导航系统 

分 类 号：TN384[电子电信—物理电子学]