MINS/GPS组合导航系统设计与实验

Design and experiment of MINS/GPS integrated navigation system

设计了一套MINS/GPS组合导航系统实验样机,可实时输出导航位置、速度和姿态信息。以GPS接收机的秒同步脉冲(PPS)与串口通信协议尾字节作为对齐标志,完成MINS与GPS时间同步;利用GPS的速度信息进行车载实验初始方位角对准,并利用横向约束条件标定惯导与车体间的方位安装误差角;设计了基于虚拟噪声的现场最优标定方法。以上措施均有效提高了系统的精度和可靠性。车载实验结果表明:无GPS辅助时,纯惯性导航在120 s时刻满足短时间惯性导航精度要求;组合导航定位精度在30min内与GPS相当。

A MINS/GPS integrated navigation system was designed to output position, velocity, and attitude in real time, PPS （pulse per second） provided by the GPS receiver and the end byte of the data frame in the serial communication protocol were used as the aligning symbols to synchronize the MINS and the GPS, In vehicle tests, the initial azimuth was determined from the GPS velocity calculation. The error in the angle between the MINS and the vehicle in the heading direction was determined using the transverse constraint condition. An optimal field calibration method was developed based on fictitious noise. These measures effectively improve the accuracy and reliability. Results of vehicle tests show that without the GPS, the MINS position accuracy satisfies accuracy requirements for short-time inertial navigation. The position accuracy of the MINS/GPS integrated system is equivalent to a GPS system within 30 min.