摘要
设计了一种基于MEMS惯性器件和ARM微控制器的低成本MINS/GPS组合导航系统。GPS辅助信号的引入克服了MEMS惯性器件精度低、稳定性差,无法独立完成长时间导航的问题。文中针对组合滤波中的非线性和滤波发散等问题,采用自适应UKF算法解决,完成了系统原理样机的设计实现,并进行了相关测试。静态实验和跑车实验证明,系统设计方案可行,具有一定的精度、稳定性和实用价值。
A low-cost MINS/GPS integrated navigation system based on the MIMU and ARM MCU was designed in this thesis. The GPS data were adopted to improve the precision and stability. The adaptive UKF algorithm was adopted to solve the non-linear and filter volatilization problems. A sample system was made out to be tested. The results of static test and dynamic car test showed that the system was feasible, accurate and practical.
出处
《传感技术学报》
CAS
CSCD
北大核心
2009年第9期1366-1370,共5页
Chinese Journal of Sensors and Actuators
