基于惯性/GPS组合的车载测试系统的设计  

Design of Vehicle Test System Based on Inertial and GPS Navigation

作　　者：慈海波[1] 吕妍红[1] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《自动化与仪表》2013年第3期1-4,9,共5页Automation & Instrumentation

摘　　要：介绍了一种基于惯性/GPS组合导航的车载测试系统的设计与实现方案。该设计中采用目前应用较为广泛的DSP+CPLD的搭配模式作为测试系统的主计算机,对相应的惯性器件陀螺仪和加速度计进行高频采样,通过捷联惯导算法给出系统的姿态、位置信息,结合对GPS信息的获取,通过卡尔曼滤波技术对捷联解算得到的系统信息进行滤波,从而得到不随时间发散的姿态、位置信息,以便于对测试车辆进行相应的动力性能以及舒适度的测试。A plan was introduced for vehicle test system design and implementation based INS/GPS navigation. The design was widely used on DSP and CPLD with mode as a test system of the host computer,high-frequency sam- piing of the corresponding inertial gyroscopes and accelerometers,SINS algorithm was given the posture of the sys- tem,location information,combined with access to GPS information,the strapdown solver system was filtered through the Kalman filtering technique,resulting in a divergence of attitude does not change with time,location information,so that the corresponding dynamic performance and comfort test on the test vehicle.

关 键 词：DSP CPLD 卡尔曼滤波 惯性导航系统 GPS 数据采集 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]