基于船舶的GPS/单陀螺航向融合算法

A GPS/Gyro Attitude Fusion Algorithm for Marine Application

研究一种应用于船舶的GPS/单陀螺航向融合算法.首先,根据陀螺输出的角速率来估算船舶航向角信息;然后,采用改进的卡尔曼滤波的GPS/单陀螺融合算法,估算出陀螺的航向角估计误差和陀螺的漂移;最后,得出船舶航向角的准确信息.试验结果表明,该融合算法使得航向角实际应用误差控制在±1°之内,其输出值相当平滑,是一种有效的航向角确定算法.

This paper introduces a GPS/single gyro yaw value fusion algorithm for marine application. It first introduces the Runge-Kutta method to estimate the yaw value according to the angular velocity output of gyro. When the GPS signal is output, Kalman filtering is used to estimate yaw value error and bias of gyro to give the accurate value. Simulation results indicate that, by using the fusion algorithm, the final yaw value error is within ±1 °. The output is very smooth, indicating that the algorithm is sound and effective.