摘要
以HMR3000磁罗经和BeeL ine GPS组成组合导航系统,对系统功能和其中的关键难题进行了研究。推导了HMR3000误差模型,根据误差模型与BeeL ine GPS系统进行最优组合;针对此系统及组合算法,进行了一系列的试验测试。试验数据表明,组合导航系统在天线基线长度大于5m时,航向误差小于0.05°,其精度优于单独的BeeL ine和HMR3000;并解决了该组合系统航向连续性等难题。
HMR3000 Magnetic compass integrated with BeeLine GPS can be constructed accuracy navigation system with low cost. The key problem of magnetic compasss/GPS system and the main function is introduced. In order to solve these key problems, the error model of the HMR3000 is deduced. With this error model and BeeLine GPS, Kalman filter is used to optimize this integrated system. And a serials tests are carded out with HMR3000/BeeLine system and the filter arithmetic. Test results show that integrated system heading error is reduced less 0.05° with 5m or longer GPS baseline. The accuracy is excel the stand-along BeeLine and HMR3000. Also the key problems in magnetic compasss/GPS system are effectively solved with this method.
出处
《海洋测绘》
2006年第3期42-44,共3页
Hydrographic Surveying and Charting
基金
国家自然科学基金(60374046)
关键词
全球定位系统
磁罗经
组合导航
误差模型
卡尔曼滤波
global positioning system （ GPS ）
magnetic compass
integrated navigation system
error model
Kalman filtering
