基于DSP的IMU/GPS数据融合算法实现  

Implementation of IMU/GPS Data Fusion Algorithm Based on DSP

作　　者：蒋孝恩[1,2] 李和平[1] 周以国[1] 

机构地区：[1]中国科学院电子学研究所,北京100190 [2]中国科学院研究生院,北京100039

出　　处：《计算机测量与控制》2011年第10期2536-2538,2541,共4页Computer Measurement &Control

基　　金：国家高技术研究发展计划(863计划)(098M170152)

摘　　要：提出了基于DSP的IMU/GPS数据融合算法的实现方案;鉴于GPS数据稳定性高、误差不随时间积累和IMU数据更新率快、在短时间内精度高的特点,采用强跟踪卡尔曼滤波算法对二者的数据进行融合处理,并且在DSP上将其实现,获取精度更高、稳定性更好的导航参数;给出了详细的设计步骤,进行了大量的静态和动态试验,并且对实验数据进行了分析与对比;结果表明,该实现方案可以获取可实用的导航参数。An implementation program of IMU/GPS data fusion algorithm based on DSP is presented. Because the stability of GPS data is good and its error dose not increase with time, at the same time, the updating rate of IMU data is quick and its precision is high, strong tracking Kalman filter algorithm is used to fuse IMU/GPS data, and at last, it is implemented in DSP to get navigation data with higher precision and better stability. The design approaches are given and a lot of static and dynamic experimentation has been done, and the experimental data are analyzed and compared. The result proves that this implementation program can be used to get applied navigation data.

关 键 词：IMU/GPS DSP 强跟踪卡尔曼滤波算法 数据融合 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]