| Integrated Navigation System and Experiment of a Low-Cost and Low-Accuracy SINS/GPS |
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| 作者姓名： | LIN Xueyuan XU Jin ZHOU Min |
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| 作者单位： | Department of Electronic Information Aeronautics Engineering Institute，188 Erma Road Yantai 264001 China |
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| 摘 要： | When SINS (strap-down inertial navigation system) is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS (attitude and heading reference system) and IMU (inertial measurement unit). Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high.
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| 关 键 词： | 船舶惯性导航系统 卫星导航系统 准确度 定位 |
| 文章编号： | 1009-5020（2007）03-177-04 |
| 收稿时间： | 19 June 2007 |
| 修稿时间： | 2007-06-19 |
Integrated navigation system and experiment of a low-cost and low-accuracy SINS/GPS |
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| LIN Xueyuan XU Jin ZHOU Min.Integrated Navigation System and Experiment of a Low-Cost and Low-Accuracy SINS/GPS[J].Geo-Spatial Information Science,2007,10(3):177-180. |
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| Authors: | Lin Xueyuan Xu Jin Zhou Min |
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| Institution: | (1) Department of Electronic Information, Aeronautics Engineering Institute, 188 Erma Road, Yantai, 264001, China |
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| Abstract: | When SINS (strap-down inertial navigation system) is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS (attitude and heading reference system) and IMU (inertial measurement unit). Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high. |
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| Keywords: | low-cost and low-accuracy SINS AHRS closed-loop Kalman filter on-line adjustment |
| 本文献已被 CNKI 维普 SpringerLink 等数据库收录！ |
