| 微小型IMU/GPS组合定位定向系统研究 |
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| 引用本文： | 何秀凤,徐勇,桑文刚.微小型IMU/GPS组合定位定向系统研究[J].武汉大学学报(信息科学版),2005,30(11):991-994. |
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| 作者姓名： | 何秀凤 徐勇 桑文刚 |
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| 作者单位： | 1. 河海大学卫星及空间信息应用研究所,南京市西康路1号,210098
2. 四川省交通厅公路规划勘察设计研究院,成都市武侯祠横街1号,610041 |
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| 基金项目： | 国家自然科学基金资助项目(50279005)，地球空间环境与大地测量教育部重点实验室开放研究基金资助项目 |
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| 摘 要： | 介绍了一种低成本微小型惯性测量组件(inertialmeasurementunit,IMU)和双天线GPS构成的组合定位定向系统。为确保组合系统的实时性和滤波稳定性,提出了一种基于UD分解的快速卡尔曼滤波算法,给出了IMU/GPS组合系统的软硬件设计和实验结果。该组合系统应用于炮兵测地车,具有成本低、精度高等优点,能够提高炮兵测地保障的精度和速度。
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| 关 键 词： | GPS 惯性测量组件(IMU) 惯性导航系统 组合导航系统 |
| 文章编号： | 1671-8860(2005)11-0991-04 |
| 收稿时间： | 2005-08-28 |
| 修稿时间： | 2005年8月28日 |
MEMS IMU and GPS Integration for Positioning and Direction Finding System |
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| HE Xiufeng,XU Yong,SANG Wengang.MEMS IMU and GPS Integration for Positioning and Direction Finding System[J].Geomatics and Information Science of Wuhan University,2005,30(11):991-994. |
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| Authors: | HE Xiufeng XU Yong SANG Wengang |
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| Institution: | 1. Institute of Satellite Navigation and Spatial Information System, Hehai University, 1 Xikang Road , Nanjing 210098, China;2. Sichuan Provincial Communications Department Highway Planning Survey Design and Research Institute. 1 Wuhouci Road,Chengdu 610041 ,China |
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| Abstract: | This paper describes the design and implementation of an integrated MEMS IMU and two-antenna GPS system for artillery vehicles. The two-antenna GPS is developed to accurately estimate the vehicle azimuth, and the integrated IMU/GPS provides attitude, position and velocity. To ensure numerical stability and real-time navigation, the faster Kalman filter based on UD factorization is presented in this paper. This research is aimed at producing a low-cost navigation system for artillery vehicles. Thus, an inexpensive solid-state MEMS IMU is used. A prototype system is built and tested, and testing results are given in this paper. |
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| Keywords: | GPS IMU INS integrated navigation system |
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