低成本INS/GPS组合导航系统算法研究及其实现

Study and Realization of the Low-Cost INS/GPS Integrated Navigation System Algorithms

采用基于 MEMS技术的低成本 IMU和 GPS接收机 ,以 DSP为信息处理核心 ,实现了 GPS/SINS组合导航系统。文中详细描述组合算法和算法的软件实现 ,并对模样机在实验室的静态实验结果进行描述和分析。实验结果表明 ,系统组合滤波器的设计和参数选择正确 。

We have realized the integrated navigation system with the core of DSP which is composed of the low-costing IMU based on the technology of MEMS and the GPS receiver.Beside describing the implementation of the algorithms and its software,we illustrate and analyse the experiment results of the model machine in details.The results indicate that the design of the kalman filter and the choice of the filter's parameters are correct and the model machine successes.