MIMU/GPS紧组合系统在车辆导航中的应用  

The Use of MIMU/GPS Tightly Intergrated System for Vehicle Navigation

作　　者：刘新源 LIU Xinyuan(Instirue of intelligent manufacturing,Sanmenxia polytechnic,Sanmenxia 472000,China)

机构地区：[1]三门峡职业技术学院智能制造学院,河南三门峡472000

出　　处：《三门峡职业技术学院学报》2021年第3期135-140,共6页Journal of Sanmenxia Polytechnic

摘　　要：针对GPS对车辆导航的不足,根据推导出的GPS载波相位和多普勒速度数学模型,结合GPS接收机接收到的载波相位和多普勒速度信息、系统提供的姿态信息和电子罗盘提供的姿态信息建立车辆导航的紧组合导航系统的状态方程和量测方程,利用卡尔曼滤波输出车辆的姿态信息。实验结果表明:该方案能够有效地约束车辆姿态误差,提高了车辆导航的精度。To weaken the insufficient of GPS(Global Position System) in vehicle navigation, according to the derived mathematical model of GPS carrier phase and Doppler velocity, combined with the carrier phase and Doppler velocity information received by GPS receiver,the attitude information provided by MIMU and electronic compass, the state equation and measurement equation of vehicle tightly-integrated navigation system are established. The attitude information of vehicle is output by the Kalman filtering. The results of test demonstrate valid for the scheme of the tightly-integrated navigation system. The system constrains the error of vehicle attitude quickly and improves the accuracy of the vehicle navigation.

关 键 词：车辆导航 GPS载波相位 微惯导 紧组合导航 

分 类 号：P228[天文地球—大地测量学与测量工程]