MIMU/GPS组合导航系统小型化设计  

Miniaturization design of MIMU/GPS integrated navigation system

作　　者：包超[1] 郭美凤[1] 周斌[1] 刘刚[1] 

机构地区：[1]清华大学精密仪器系,北京100084

出　　处：《传感器与微系统》2014年第1期116-119,共4页Transducer and Microsystem Technologies

摘　　要：为满足小型无人机、手持制导设备及无人探测车等对低成本轻重量导航系统需求,应用MEMS惯性测量单元和GPS接收机模块,完成MIMU/GPS组合导航系统小型化设计。组合导航计算模块基于DSP+FPGA+FLASH设计完成,实现多传感器通信、串并行数据转换及与上位机人机交互等功能。将计算模块、电源模块、MIMU及GPS接收机集成到嵌入式MIMU/GPS组合导航系统中,完成的系统直径80 mm,高度80 mm,质量不超过600 g。对集成后系统进行定点动姿态实验,结果表明:该组合导航系统定点位置测量精度在1 m以内,动姿态测量精度姿态角在0.1°以内,航向角在0.5°以内。In order to meet the needs of low cost and light weight navigation system for small UAV, handheld guidance equipment and unmanned vehicle, using MIMU and GPS receiver module, MIMU/GPS integrated navigation system miniaturization design is completed. Computing module of MIMU/GPS integrated navigation system is designed based on DSP ＋ FPGA ＋ FLASH. Realize functions of multiplex sensor communication, serial data to parallel data conversion and man-machine interaction with upper-PC. Embedded integrated navigation system is integrated with computation module, power module MIMU and GPS receiver, the diameter of system is 80 mm and the height is 80 ram. Static fixed-point test,fixed-point dynamic posture test and dynamic ear test show that static position accuracy is in 1 m, attitude angle accuracy is in 0.1 °, heading angle accuracy is in 0.5 °.

关 键 词：MIMU GPS组合导航系统 嵌入式系统 小型化 

分 类 号：U666.1[交通运输工程—船舶及航道工程]