摘要
针对微惯性测量组合无法长时间单独工作、GPS卫星信号不稳定的问题,提出MIMU/GPS组合导航的方法。对MIMU的误差建立模型,采用松组合方式,设计卡尔曼滤波器,除取姿态、速度、位置的误差作为状态变量外,另取仪表的误差作为状态变量。对姿态、速度、位置进行反馈校正。在GPS卫星信号在某些条件下短时间丢失的情况下,微惯性测量组合单独导航,然后再重新获取GPS卫星信号的情况下进行Kalman滤波组合导航仿真,仿真结果表明该算法简单易实现,能满足导航精度要求,且在GPS卫星信号短时间丢失的情况下有较高的导航精度。
A MIMU/GPS integrated method is proposed for solving the problem that MIMU can not work alone for long time and the signal of GPS is not stable. Kalman filter is designed with loose integration of the error model of MIMU. Besides the errors of attitude, velocity, and position, the errors of gyro and accelerometer are also taken as state variables. Attitude, velocity, position are revised by feedback. The MIMU can work alone when the GPS signal is lost for a short time. The results of simulation show that this method is easy to realize can meet the requirement of precision of navigation, and also can provide high precision when the GPS signal is lost for a short time.
出处
《计算机仿真》
CSCD
2008年第10期69-72,共4页
Computer Simulation
作者简介
许国珍（1984．12-），男（汉族），安徽安庆人，硕士研究生，主要研究方向：惯性导航技术，组合导航技术。
吴美平（1970．7-），男（汉族），福建南平人，副教授，主要研究方向：精确制导与控制技术。
