低成本IMU/GPS车辆组合导航系统设计与仿真研究  

Research on the Design and Simulation on the Low-cost IMU/GPS Integrated Navigation System for Vehicles

作　　者：杨波[1] 汪广大 柴艳[3] 

机构地区：[1]西北工业大学自动化学院 [2]中国人解放军94701部队 [3]西北工业大学材料学院

出　　处：《弹箭与制导学报》2006年第S3期521-524,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：设计了一种低成本的IMU/GPS车辆组合导航系统。采用低精度的陀螺仪和加速度计作为惯性测量器件,构成惯性测量装置(IMU);然后,将该IMU与GPS构成组合导航系统,通过设计高效的组合导航算法来提高组合系统的定位精度。实验仿真结果表明,该低成本IMU/GPS车辆组合导航系统具有较高的导航精度,同时有效降低了系统成本。In this paper,a low-cost IMU/GPS integrated navigation system for vehicles was designed.The gyroscopes and accelerometers with low accuracy were taken as inertial measuring apparatus to compose the Inertial Measurement Unit (IMU).IMU and GPS were integrated to navigate,and a high-performance integrated navigation algorithm was designed to improve the positioning accuracy of the integrated system.Computer simulation results show that,the low- cost IMU/GPS integrated navigation system for vehicles had higher navigation accuracy,and the cost of the navigation system was reduced effectively.

关 键 词：惯性测量装置(IMU) 全球定位系统(GPS) 车辆组合导航 卡尔曼滤波 

分 类 号：U463.6[机械工程—车辆工程]