MINS/GPS一体化紧组合导航系统  

MINS/GPS tightly-coupled integrated navigation system

作　　者：郭美凤[1] 林思敏[1] 周斌[1] 吕少麟[1] 刘刚[2] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084 [2]海军航空工程学院,烟台264001

出　　处：《中国惯性技术学报》2011年第2期214-219,共6页Journal of Chinese Inertial Technology

基　　金：国防重点预研项目(51309020403)

摘　　要：采用基于MEMS技术的低成本IMU和GPS作为传感器,以DSP和FPGA分别作为计算和通信器件,实现一体化紧凑型的紧组合导航系统。除去外接天线,整个导航系统尺寸为12 cm×12 cm×11.6 cm。算法方面,采用扩展卡尔曼滤波器,以伪距、伪距率误差作为观测量进行实时滤波估算导航系统的状态量,进而修正系统误差。采用双子样优化的圆锥效应和划船效应补偿算法,实现100 Hz的导航数据输出。通过静态和跑车实验验证,该系统的静态水平定位误差为0.2 m(CEP),动态水平定位误差优于10 m(CEP),俯仰角和横滚角误差为0.3°,航向角误差为0.5°。Using low-cost MEMS-based IMU（inertial measurement unit） and GPS as sensors,and taking DSP and FPGA as computing and communication devices,an tightly-coupled integration navigation system is achieved.The size of the integrated navigation system is 12 cm×12 cm×11.6 cm excluding the external antenna.Taking the pseudorange and pseudorange-rate of GPS as the observations of extended Kalman filter,the system errors are estimated and corrected.Using second-order coning and sculling correction algorithm,the data output rate of the navigation system is up to 100 Hz.The static and dynamic test results show that the static level positioning error is 0.2 m（CEP）,dynamic level positioning error is less than 10m（CEP）,pitch and roll angle errors are 0.3 °,heading angle error is 0.5°.

关 键 词：MINS/GPS 紧组合导航算法 组合导航系统 低成本 

分 类 号：U666.1[交通运输工程—船舶及航道工程]