低成本MIMU/GPS车载组合测量系统的导航算法设计  

Navigation Algorithm Design on Low-cost MIMU/GPS Integrated Measurement System for Vehicles

作　　者：刘江[1] 吕妍红[1] 

机构地区：[1]北京航空航天大学,北京100191

出　　处：《弹箭与制导学报》2015年第4期35-38,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：文中的组合测量系统用于测量汽车的位置、速度和姿态信息,为提高测量精度,文中设计的导航算法为:系统做近似直线运动时,采用基于位置、速度、航向组合的导航算法;系统做转弯运动时,采用基于位置、速度组合的导航算法。实际跑车实验表明,系统位置精度为3 m(CEP)、速度精度为0.25 m/s、航向精度为1°,相对单纯的位置、速度组合导航算法,系统的测量精度有所提高,尤其航向测量精度提高了1倍,从而说明文中所述导航算法的有效性。Integrated measurement system is used to measure vehicle＇s position,velocity and attitude. To improve the measurement accuracy,a navigation algorithm is designed as follows： the algorithm based on position,velocity and yaw integration is used when the system is moving approximate linearly; If the system is turning,the algorithm based on position and velocity integration is applied. The car experiments show that the system＇s measurement accuracy of positon is 3 m（ CEP）,that of velocity is 0. 25 m / s and that of yaw is 1°. Compared with the navigation algorithm simply based on position and velocity integration,the designed navigation algorithm can achieve more accurate measurement. Especially,the measurement accuracy of yaw is doubling. The results indicate that the navigation algorithm designed is available.

关 键 词：微惯性测量单元 航向组合 卡尔曼滤波 组合导航 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]