摘要
本文利用微型惯性测量元件和GPS-OEM板,以ARM处理器为核心,设计了一种低成本、轻小型的嵌入式GPS/SINS组合导航系统。文中介绍了捷联惯导的原理和初始对准,给出了采用卡尔曼滤波前后系统的误差曲线,和uC/OS-II操作系统下组合导航系统软件的结构。
An embed GPS/SINS integrated navigation system with the core of ARM is designed by using low-costing MIMU and GPS-OEM panel in this paper. We analyze the theory of strapdown inertial navigation and initial aiming in details. Give the error curves of the navigation system and the framework of system software based on uC/OS-II.
出处
《微计算机信息》
北大核心
2008年第8期22-23,18,共3页
Control & Automation
关键词
捷联惯性导航
GPS导航
组合导航
卡尔曼滤波
Strapdown inertial navigation
Integrated navigation
Global positioning system
Kalman filtering
