基于互补滤波器的MEMS/GPS/地磁组合导航系统  

MEMS/GPS/geomagnetic integrated navigation system based on complementary filter

作　　者：张勇刚[1] 张云浩[1] 李宁[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2014年第11期2272-2279,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(61001154;61201409;61371173);中国博士后科学基金(2013M530147);黑龙江省博士后基金(LBH-Z13052);哈尔滨工程大学中央高校基本科研业务费专项基金(HEUCFX41307)资助课题

摘　　要：针对低成本、高性能、高可靠性导航系统的迫切需求,设计并实现了一种基于互补滤波器的微机电系统(micro-electro-mechanical system,MEMS)/全球定位系统(global positioning system,GPS)/地磁组合导航系统。通过精确地器件标定,提高了MEMS陀螺仪、加速度计输出数据的准确性;根据MEMS惯性导航系统解算的姿态角、速度、位置结果,结合GPS及地磁的输出,设计了组合导航系统;依据载体的运动状态,设计了自适应调整截止频率的互补滤波器数据融合方法,实现了组合导航系统的定姿定位;最后,对组合导航系统进行静态、动态测试试验,实际测试结果表明,组合导航系统能够达到较高的导航精度。Aiming at urgent requirement of a low cost,high performance,high reliability navigation system,a micro-electro-mechanical system （MEMS）/global positioning system （GPS）/ geomagnetic integrated navigation system based on the complementary filter is proposed and designed.The accuracy of the MEMS gyroscope and the accelerometer is improved by the high precision calibration method.The output position,velocity and attitude obtained with the MEMS inertial navigation system are fused with outputs of GPS and the geo-magnetic based on the complementary filter,and the integrated navigation system is then obtained.According to the motion state of the carrier,the adaptive adjustment of cut-off frequency complementary filter data fusion method is designed,realized the integrated navigation system which can provide attitude and position of the carrier.Static and dynamic experimental results show that high precision navigation results are obtained with the integrated navigation system.

关 键 词：微机电系统 组合导航 标定 互补滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]