基于LabVIEW的车载GPS/SINS组合导航平台实现  

Development of GPS/SINS Vehicle Navigation Platform Based on LabVIEW

作　　者：王恒升[1,2] 罗涛[1,2] 谢木生[1,2] 

机构地区：[1]中南大学机电工程学院,长沙410083 [2]高性能复杂制造国家重点实验室,长沙410083

出　　处：《计算机测量与控制》2013年第6期1574-1576,1604,共4页Computer Measurement &Control

基　　金：国家"973"计划课题(项目批准号:2013CB035504)

摘　　要：针对车辆在GPS车载导航过程中经常出现的GPS失锁而影响导航定位功能的情况,建立了基于GPS/SINS的组合导航平台;将指北惯性导航算法运用到GPS/SINS组合导航系统中;推导了系统误差方程,根据传感器特性和Kalman滤波理论,设计了一种实用的Kalman滤波器,将速度误差和位置误差分开考虑,使误差协方差矩阵在计算过程中不易丢失非负定性,且减少了程序解算量;该平台在LabVIEW环境下完成数据采集与算法实现;使用该平台在中南大学新校区进行了跑车试验,实验结果表明:该平台系统在GPS失锁150s内,具有良好的导航效果。A platform of GPS/SINS integrated vehicle navigation is developed to improve the situation usually occurring in GPS vehicle navigation systems that the function of navigation fails because of the loss of GPS signal. North inertial navigation algorithm is used in the platform and the system error equation is derived. According to the characteristics of sensors and the theory of Kalman filtering, a practical Kalman filter is designed, in which the error of velocity and the error of position are separated to make the error covariance matrix not easy loss of nonnegdtive definiteness, and the computing burden is also reduced. The program for data acquisition and navigation algorithm is accomplished on LabVIEW. An experiment is carried out by running car with the navigation system in the campus of CSU, and the results show that the platform has a good navigation accuracy with the loss of GPS signal for 150 seconds.

关 键 词：GPS SINS组合导航系统 GPS失锁 卡尔曼滤波 指北惯导算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]