| 一种应用磁强计提高导航系统航向精度的方法 |
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| 引用本文： | 管斌,李涛,吴美平,王荔斌.一种应用磁强计提高导航系统航向精度的方法[J].传感器与微系统,2010,29(8). |
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| 作者姓名： | 管斌 李涛 吴美平 王荔斌 |
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| 作者单位： | 国防科技大学机电工程与自动化学院;中国人民解放军63999部队; |
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| 基金项目： | 高等学校博士学科点专项科研基金资助项目 |
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| 摘 要： | 针对静止与匀速运动状态下低成本SINS/GPS组合导航系统航向角可观性差的问题,采用磁强计与低成本SINS/GPS构成新的组合导航系统,以提高系统的航向精度.给出了完整的组合导航系统卡尔曼滤波模型,利用Simulink进行了仿真实验.仿真结果表明:在静止与匀速运动状态下,SINS/GPS组合导航系统航向角误差发散,而SINS/GPS/磁强计组合导航系统的航向角有效收敛.利用某型系统进行了静态实验,实验表明:在传感器精度较差的条件下,SINS/GPS/磁强计组合系统航向角仍可以有效收敛,收敛后姿态角误差标准差小于0.2.静态实验验证了该方法在实际应用中的有效性.
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| 关 键 词： | 捷联惯性导航系统 组合导航 磁强计 卡尔曼滤波 |
Method for improving the heading precision of navigation system using magnetometer |
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| GUAN Bin,LI Tao,WU Mei-ping,WANG Li-bin.Method for improving the heading precision of navigation system using magnetometer[J].Transducer and Microsystem Technology,2010,29(8). |
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| Authors: | GUAN Bin LI Tao WU Mei-ping WANG Li-bin |
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| Affiliation: | GUAN Bin1,LI Tao1,WU Mei-ping1,WANG Li-bin2 (1.School of Mechatronic Engineering and Automation,National University of Defense technology,Changsha 410073,China,2.Unit 63999 of PLA,Beijing 100094,China) |
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| Abstract: | The heading error observability of the integrated system of low-cost strapdown inertial navigation system(SINS) and global positioning system(GPS) is very poor under the moving condition of stillness or uniform rectilinear.To improve the heading precision,magnetometer was added into the low-cost SINS/GPS integrated system.The complete model of integrated navigation system was derived and,simulations were implemented.The results demonstrate that the heading error of SINS/GPS integrated system diverges under ... |
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| Keywords: | SINS integrated navigation magnetometer Kalman filter |
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