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| IMU/GPS/DCM组合导航系统全组合算法研究 | |
| 引用本文： | 郭访社,于云峰,齐鑫,李仪,刘书盼.IMU/GPS/DCM组合导航系统全组合算法研究[J].计算机测量与控制,2008,16(10):1485-1488. |
| 作者姓名： | 郭访社 于云峰 齐鑫 李仪 刘书盼 |
| 作者单位： | 1. 西北工业大学,航天学院,陕西,西安,710072 2. 西北工业大学,自动化学院,陕西,西安,710072 3. 中国人民解放军68116部队,陕西,咸阳,713702 |
| 摘 要： | 通过分析姿态组合算法中平台误差角与姿态误差角物理意义的不同,推导并得到了二者之间的转换关系;利用联邦滤波技术,设计了弹载IMU/GPS/DCM组合导航系统,其中IMU为战术级捷联式惯导系统,GPS为普通民用级;仿真结果表明在元器件精度很低的情况下,使用文中的算法及系统设计依然可以实现高精度导航;组合导航系统的姿态误差角可控制在10角分左右,位置精度在3 m以内,具有较高的实际应用价值。 |
| 关 键 词： | 惯性测量装置 全球定位系统 数字罗盘组件 联邦滤波 组合导航 |
Complete Integrated Algorithm in IMU/GPS/DCM Navigation System |
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| GUO Fangshe,YU Yunfeng,Qi xin,Li Yi,Liu Shupan.Complete Integrated Algorithm in IMU/GPS/DCM Navigation System[J].Computer Measurement & Control,2008,16(10):1485-1488. | |
| Authors: | GUO Fangshe YU Yunfeng Qi xin Li Yi Liu Shupan |
| Affiliation: | 1.spaceflight College,Northwest Polytechnic University,Xi’an 710072,China) (2.Automatization College,Northwest Polytechnic University,Xi’an 710072,China) (3.the PLA 68116 unit,Xianyang 713702,China) |
| Abstract: | The difference of platform angles error and attitude error are analysed,and the conversion connection is gained,and by using Kalman filtering,the IMU/GPS/DCM integrated navigation system is designed.Simulation results show that,we can achieve high precision navigation information with this arithmetic and system design under the condition of big organ'error.The attitude angle errors of integrated navigation system can be decreased to no more than 10 angles cent,the accuracy of positioning less than 3 meter.The method has the actual application value. |
| Keywords: | Inertial measurement unit(IMU) Global Position System(GPS) Digital compass module(DCM) Federated filter integrated navigation |
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