GPS和惯性测量设备的数据联合处理研究

Research on GPS/IMU data combined process

惯性导航设备有采用率高、自主强等特点。由于惯性导航设备的定位结果随误差漂移,因此需要其他定位技术的结果来校正这种漂移。GPS具有定位精度高全球覆盖等特点,但卫星信号在受到阻挡时会对定位结果产生影响,采用GPS和惯性导航设备相互结合可以弥补单系统的不足,使得定位系统更加完善。本文针对某型号惯性测量单元数据采集中的粗差进行处理,实现了非耦合GPS和惯性测量单元的组合处理。行车试验的重复测量结果表明,GPS和惯性测量的组合可以抑制惯性测量导航系统的飘移误差,获得高采样率的输出结果。

Inertial navigation system is a high-sampling independent navigation system with a drawback of error accumulation by the observation span,and therefore other external positioning technologies are necessarily employed to calibrate this time-accumulated error.Besides,GPS is a global navigation system and the satellite signal is easily blocked.A combination of these two systems provides good compensations for each other.In this paper,a process method for non-coupling GPS/INS combination was discussed for a certain inertial measurement unit with considering observation blunder.The result from a moving vehicle indicated that the combination of GPS/INS could effectively restrict inertial drift,yielding navigation result with high sampling rate.