GPS/MEMS-IMU松耦合导航系统的设计
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摘要
针对目前低成本、小型化组合导航系统的需求,设计了GPS/MEMS-IMU松耦合导航系统。对IMU数据进行卡尔曼滤波、零点修正等预处理,然后使用四元数把加速度从载体坐标系转换到水平坐标系,对加速度进行积分运算得到速度、位移,并以松耦合方式与GPS数据进行组合导航。实验结果表明,在400m范围内实测多次,计算位移误差在2%以内。
A GPS/MEMS Loosely Coupled Navigation System is designed for the current needs of low-cost and miniaturized navigation systems.First,MEMS data is preprocessed by Kalman filter and zero point correction.Then uses quaternions to convertthe acceleration from the carrier coordinate system to the horizontal coordinate system and integrates the acceleration to obtain thespeed and distance. Finally,MEMS data is fused with GPS data in loosely coupled way to navigate.The experimental results show that in the 400 m range measured many times,the error of distance is within 2%.
A GPS/MEMS Loosely Coupled Navigation System is designed for the current needs of low-cost and miniaturized navigation systems.First,MEMS data is preprocessed by Kalman filter and zero point correction.Then uses quaternions to convertthe acceleration from the carrier coordinate system to the horizontal coordinate system and integrates the acceleration to obtain thespeed and distance. Finally,MEMS data is fused with GPS data in loosely coupled way to navigate.The experimental results show that in the 400 m range measured many times,the error of distance is within 2%.
引文
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[14]陈孟元,谢义建,陈跃东.基于四元数改进型互补滤波的MEMS姿态解算[J].电子测量与仪器学报,2015,29(9):1391-1397.
[15] Eling C,Klingbeil L,Kuhlmann H. Real-Time Single-Frequency GPS/MEMS-IMU Attitude Determination of Lightweight UAVs[J]. Sensors,2015,15(10):26212-26235.
[2]丰趁得,刘庆元,欧野. MEMS-IMU/GPS/GPRS组合导航方案设计与实现[J].传感器世界,2016,22(5):24-28.
[3]Cho S Y,Chan G P. MEMS Based Pedestrian NavigationSystem[J]. Journal of Navigation, 2005, 59(59):135-153.
[4]Godha S,Cannon M E. GPS/MEMS INS integrated systemfor navigation in urban areas[J]. Gps Solutions,2007,11(3):193-203.
[5]李康,黄胜,赵辉. GPS坐标系的转换及其在姿态求解中的应用[J].指挥控制与仿真,2008,30(5):113-115.
[6]Pan L,Cai C,Santerre R,et al. Performance evaluationof single-frequency point positioning with GPS,GLONASS,BeiDou and Galileo[J]. Journal of Naviga-tion,2017,70(3):465-482.
[7]张学龙.基于软件接收机的BDS/MEMS IMU深组合导航性能分析[J].大地测量与地球动力学,2017,37(1):48-52.
[8] Sasani S,Asgari J,Amiri-Simkooei A R. ImprovingMEMS-IMU/GPS integrated systems for land vehicle navi-gation applications[J]. Gps Solutions,2016,20(1):89-100.
[9]Chu H J,Guang-Je T,Kai-Wei C,et al. GPS/MEMSINS Data Fusion and Map Matching in Urban Areas[J].Sensors,2013,13(9):11280-11288.
[10]曲明哲,罗新恒,温瑞智. MEMS加速度传感器噪声分析[J].地震工程与工程振动,2014,01(6):26-32.
[11]孙伟,丁伟,徐爱功,等. MEMS惯导系统的误差自修正技术研究[J].测绘科学,2017,42(1):119-123.
[12]于静文,薛蕙,温渤婴.基于卡尔曼滤波的电能质量分析方法综述[J].电网技术,2010(2):97-103.
[13]Chu H,Sun T,Zhang B,et al. Rapid Transfer Alignment of MEMS SINS Based on Adaptive Incremental Kalman Filter:[J]. Sensors,2017,17(1):152.
[14]陈孟元,谢义建,陈跃东.基于四元数改进型互补滤波的MEMS姿态解算[J].电子测量与仪器学报,2015,29(9):1391-1397.
[15] Eling C,Klingbeil L,Kuhlmann H. Real-Time Single-Frequency GPS/MEMS-IMU Attitude Determination of Lightweight UAVs[J]. Sensors,2015,15(10):26212-26235.