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GPS间歇性失效环境下的低成本多传感器组合导航系统研究 被引量:5

Research on Low-Cost Multi-Sensor Integrated Navigation System in Intermittent GPS-Denied Environment
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摘要 针对GPS/SINS组合导航系统在GPS间歇性失效环境下导航精度迅速下降的问题,设计了一种低成本的多传感器组合导航系统。该系统由陀螺仪、加速度计、气压计、磁力计和GPS组成,通过卡尔曼滤波器进行信息融合来实现精确的导航定位。针对GPS间歇性失效环境,利用气压计和磁力计的测量信息来辅助SINS进行导航。采用内置MEMS多传感器的智能产品对设计的系统进行了实验验证。实验结果表明,该系统可以在GPS间歇性失效的环境下实现精确的导航定位。 For the problem that the navigation precision of GPS / SINS integrated navigation declines rapidly under intermittent GPS-denied environment,a low-cost multi-sensor integrated navigation system is designed. The system consists of gyroscope,accelerometer,barometer,magnetometer and GPS,and achieves the purpose of accurate navigation and positioning by using Kalman filter for information fusion.For the intermittent GPS-denied environments,the system uses the measurement information of barometer and magnetometer to assist SINS's navigation. This system is verified by using smart product with built-in MEMS multiple sensors. The experimental results show that the integrated navigation system can realize precise navigation and positioning under intermittent GPS-denied environment.
出处 《航空兵器》 2015年第3期13-17,共5页 Aero Weaponry
基金 中国航天科技集团公司卫星应用研究院创新基金项目(2014_CXJJ-DH_07)
关键词 GPS失效 多传感器 组合导航 卡尔曼滤波 GPS-denied multi-sensors integrated navigation Kalman filtering
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