| 微小型无人直升机组合导航系统数据融合的研究 |
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| 引用本文： | 李振锋,郭西进,彭成时,李鑫.微小型无人直升机组合导航系统数据融合的研究[J].计算机测量与控制,2009,17(12):2532-2534. |
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| 作者姓名： | 李振锋 郭西进 彭成时 李鑫 |
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| 作者单位： | 中国矿业大学,信息与电气工程学院,江苏,徐州,221008 |
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| 摘 要： | 文章在考虑微小型无人直升机的特点及对导航定位系统的需求的基础上,对MIMU和GPS进行了合适的选型,设计了以DSP为核心的组合导航定位系统及其系统的数据同步电路;根据MIMU和GPS所提供的位置和速度的误差值,文章建立了闭环反馈控制的间接卡尔曼滤波器的方法进行数据融合;运用MATLAB的DSP数字信号处理工具进行仿真,实验仿真结果表明,文章所采用的组合导航系统较单一导航系统在控制精度和可靠性上有明显提高。
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| 关 键 词： | 微小型无人直升机 组合导航系统 数据融合 卡尔曼滤波 |
Research on Data Fusion of Integrated Navigation System for MUH |
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| Li Zhenfeng,Guo Xijin,Peng Chengshi,Li Xin.Research on Data Fusion of Integrated Navigation System for MUH[J].Computer Measurement & Control,2009,17(12):2532-2534. |
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| Authors: | Li Zhenfeng Guo Xijin Peng Chengshi Li Xin |
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| Affiliation: | (School of Information and Electrical Engineering,China University of Mining and Technology,Xuzhou 221008,China) |
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| Abstract: | Based on the characteristics of MUH (Mini Unmanned Helicopter) and the demands for integrated navigation system, an integrated navigation system and data synchronization circuit on DSP are designed by choosing suitable MIMU and GPS in the paper. According to the position and velocity errors from MIMU and GPS, feedback correcting indirect Kalman -Filter is built for data fusion of integrated navigation system. This paper uses tools of digital signal processing in the MATLAB to simulate. The simulation results show that the integrated navigation system designed in the paper is more greatly improved than single navigation system in reliability and precision. |
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| Keywords: | MUH integrated navigation system data fusion Kalman-Filter |
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