低成本IMU/GPS组合导航系统设计

纯惯导数据自主性强、更新率高、实时性好,但系统误差会随时间积累。GPS将误差限制在一定范围内,但数据更新较慢,易受外界干扰。以IMU、GPS和磁航向计构成的低成本组合导航系统已成为目前研究的热点。本研究构建了低成本小型航姿系统。为了更好地满足工程需要,增强系统的实时性,考虑到时间延迟对系统的影响,设计10维卡尔曼滤波器用于导航计算,实测跑车并对数据进行仿真。初步结果表明,所构建的组合导航系统精度和稳定性均满足导航要求。

Design in Low-Cost Integrated Navigation System

Inertial navigation system has many advantages such as strong independence,high update rate,good realtime performance,but the system error will accumulate with time.GPS will limit the error within a certain range,but the data update is slow and vulnerable to outside interference.Low-cost navigation system,which consists of IMU,GPS and magnetic heading meter,is becoming a research hotspot.A low-cost small AHRS is consructed.In order to apply theory into practice,taking into account the impact of time delay on the system,a 10 dimensional Kalman filter for navigation is designed.The actual measurement data are used to simulation.In a series of ground test,it is shown that the system accuracy and stability meet navigation requirements.