| 高精度、微小型惯性/GPS组合导航系统研究 |
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| 引用本文： | 刘伟,徐海刚,张京娟.高精度、微小型惯性/GPS组合导航系统研究[J].武汉大学学报(信息科学版),2010(2). |
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| 作者姓名： | 刘伟 徐海刚 张京娟 |
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| 作者单位： | 北京航空航天大学仪器科学与光电工程学院; |
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| 基金项目： | 北京航空航天大学985工程资助项目(BHA985-2-15) |
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| 摘 要： | 针对INS/GPS组合导航系统航向角可观测性差的问题,提出了把航向信息耦合到Kalman滤波器量测方程中的方法,以及用航位推算校正航向的方法来抑制航向角发散的趋势。为满足低成本、小型化的要求,以MEMS陀螺和加速度计为核心,构建了高精度组合导航系统。仿真试验表明,两种算法均达到了较高的定位/定向精度,对导航系统在小型化领域的推广应用具有实际意义。
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| 关 键 词： | UAV 卡尔曼滤波 航向校正 航位推算 |
Study of High Precision and MINS/GPS Integrated Navigation Systems |
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| LIU Wei XU Haigang ZHANG Jingjuan.Study of High Precision and MINS/GPS Integrated Navigation Systems[J].Geomatics and Information Science of Wuhan University,2010(2). |
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| Authors: | LIU Wei XU Haigang ZHANG Jingjuan |
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| Institution: | LIU Wei1 XU Haigang1 ZHANG Jingjuan1 (1 School of Instrument Science & Opto-electronics Engineering,Beijing University of Aeronautics , Astronautics,37 Xueyuan Road,Beijing 100191,China) |
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| Abstract: | An integrated MINS/GPS navigation system is presented as an airborne equipment for UAV.The heading's observability is very weak.In order to eliminate this divergent trend,two methods that Kalman filter with heading coupling and dead reckoning revising the heading of SINS are proposed.The simulation results show that these methods can effectively eliminate the divergent trend of heading,and have high positioning and orienting precision.The system can be used on UAVs and airships.It will have more and more br... |
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| Keywords: | UAV Kalman filtering heading calibration dead reckoning |
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