航空学报 > 2003, Vol. 24 Issue (3): 269-272

MIMS/GPS组合导航系统设计与实验

顾启泰, 尚捷, 毛刚, 刘学斌   

  1. 清华大学精密仪器与机械学系 北京 100084
  • 收稿日期:2002-07-17 修回日期:2003-02-20 出版日期:2003-06-25 发布日期:2003-06-25

Design and Experiment of MIMS/GPS Integrated Navigation System

GU Qi-tai, SHANG Jie, MAO Gang, LIU Xue-bin   

  1. Department of Precision Instruments and Mechanology; Tsinghua University; Beijing 100084; China
  • Received:2002-07-17 Revised:2003-02-20 Online:2003-06-25 Published:2003-06-25

摘要: GPS 接收机与微型惯性传感器组成的低成本、轻小型组合导航系统可以弥补各自的不足, 防止导航定位误差随时间积累, 并且提高了系统的抗干扰能力。采用状态和偏差去耦估计方法, 在开环卡尔曼滤波器结构的基础上, 引入了偏差反馈补偿; 并利用双GPS 接收机测量方位角解决了组合系统的初始方位对准问题。车载实验表明, 样机的定位精度和GPS 相当, 并具有较好的重复性。尤其是当GPS 短时间失锁时, 系统仍能保持较高的定位精度, 从而增强了系统的可靠性。

关键词: 微型惯性测量系统, 全球定位系统, 组合系统

Abstract: The integr at ion of GPS receivers and micro-miniature inertial sensors character ized by its small size, lightweight and low cost can overcome their own shortcomings, avoid the positioning err or accumulated with the gr owingtime, and impr ove t he anti-interference abilit y of the system. The decoupled state and bias estimation and bias feedback compensation are used on the basis of the open Kalman filter ing structure. Bi-GPS r eceivers ar e applied to measure the azimuth angle in terms of initial alignment of the integrated system. Vehicle tests show that t he positioningaccuracy of the prototype is about the same to the GPS, and is pr ovided with a quite good repeatability. Especially,when GPS r eceivers were not locked in synchronism for a short time, the system would st ill keep the high positioning accuracy. T hen the reliability of the system has been increased.

Key words: micro-miniature inertial measurement system, global positioning system, integrated system

中图分类号: