摘要
介绍了一种低成本微小型惯性测量组件(inertialmeasurementunit,IMU)和双天线GPS构成的组合定位定向系统。为确保组合系统的实时性和滤波稳定性,提出了一种基于UD分解的快速卡尔曼滤波算法,给出了IMU/GPS组合系统的软硬件设计和实验结果。该组合系统应用于炮兵测地车,具有成本低、精度高等优点,能够提高炮兵测地保障的精度和速度。
This paper describes the design and implementation of an integrated MEMS IMU and twoantenna GPS system for artillery vehicles. The two-antenna GPS is developed to accurately estimate the vehicle azimuth, and the integrated IMU/GPS provides attitude, position and velocity. To ensure numerical stability and real-time navigation, the faster Kalman filter based on UD factorization is presented in this paper. This research is aimed at producing a low-cost navigation system for artillery vehicles. Thus, an inexpensive solid-state MEMS IMU is used. A prototype system is built and tested, and testing results are given in this paper.
出处
《武汉大学学报（信息科学版）》
EI
CSCD
北大核心
2005年第11期991-994,共4页
Geomatics and Information Science of Wuhan University
基金
国家自然科学基金资助项目(50279005)
地球空间环境与大地测量教育部重点实验室开放研究基金资助项目
