基于北斗导航的车载捷联惯导及航迹推算系统设计  

Design of vehicle strapdown inertial navigation system and track estimation system based on Beidou navigation

作　　者：高明明[1,2] 程力 刘超 南敬昌[1] 房少军[2] GAO Mingming;CHENG Li;LIU Chao;NAN Jingchang;FANG Shaojun(College of Electronic and Information Engineering,Liaoning Technical University,Huludao 125105,China;College of Information Science and Technology,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]辽宁工程技术大学电子与信息工程学院,辽宁葫芦岛125105 [2]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《传感器与微系统》2020年第9期97-100,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金青年科学基金资助项目(61701211);辽宁特聘教授项目(551710007004);辽宁省高校重点实验室项目(LJZS007)。

摘　　要：设计了一种以STM32F407作为控制系统核心处理器的北斗卫星导航系统(BDS)/捷联惯导系统(SINS)/磁力计/车载ECU组合导航系统,实现了经纬度、航向角、速度等控制参数的输出。利用改进航迹推算算法将航向角、速度、位置等信息和BDS解析得到的导航信息进行组合,对得到的组合信息进行的卡尔曼滤波算法处理。最后对系统进行了车辆实际运动测量实验并达到了较好效果,结果表明:该设计具有一定实用价值。An integrated navigation system of Beidou satellite navigation system(BDS)/strapdown inertial navigation system(SINS)/magnetometer/vehicle ECU is designed using STM32 F407 as the core processor of the control system.The output of the control parameters such as longitude and latitude,heading angle and speed is realized.At the same time,the navigation information such as heading angle,speed,position and the navigation information obtained by BDS analysis is combined by using the improved track estimation algorithm.The combination information is processed by Kalman filtering algorithm.Finally,the actual vehicle motion measurement experiment is done and the result is good.The result shows that the design has a certain practical value.

关 键 词：STM32 北斗卫星导航系统 航迹推算 捷联惯导系统 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]