多天线GPS和微机械惯导组合进行姿态确定

Study on multiple GPS antennae and MEMS based on INS integrated attitude determination system

描述了一种多天线GPS和微机械惯导系统组合来进行姿态确定的系统.目的是设计和装配一种具有可靠的高精度姿态确定性能、而且具有高输出率、低耗、快速初始化、通过数据合成而具备坚固和冗余性的多天线GPS和MEMS惯导组合的系统.这个系统在一段时间内没有GPS测量信息也能提供姿态以及其他的导航信息.性能分析显示在200 Hz状态下姿态、位置、速度、加速度以及角速率可以达到0.08o/s、1.5 m、0.1 m/s、0.12 m/s2和0.1o/s.

This paper describes the attitude determination system via tight integration of multiple GPS antennae and MEMS based INS. The multiple GPS antennae system can provides attitude via using integer ambiguity solved carrier phase measurement. However, it has problem of the low output rate, latency, and easily lose lock problems. Low-cost MEMS based INS has problems of determining heading and error accumulation. The major objective is to design and implement the reliable attitude determination with high accuracy, high output rate, low latency, quick initialization, robust and redundancy via data fusion of multiple GPS antennae system and the MEMS based INS. The system can provide attitude and other navigation information even without GPS measurements for period of time. Performance analysis shows that the attitude, position, velocity, acceleration, and angular rates are estimated at 200 Hz with accuracy （＂ standard deviation） of 0.08°/s, 1.5 m,0. 1 m/s, 0.12 m/s^2 ,and 0.1°/s. This paper presents the methodology of the technique and performs the analysis based on the methodology.