摘要
针对MIMU/GPS/磁传感器组合导航系统,进行了GPS信号调理、MEMS陀螺仪降噪以及磁传感器误差补偿研究。用双线性趋势外推法与MIMU陀螺仪信息对GPS信号进行处理,用AR(3)误差模型对MEMS陀螺仪去噪建模,用旋转标定方法对磁传感器进行误差补偿。通过对自行研制的MIMU/GPS/磁传感器组合导航系统与高精度组合导航系统的室外跑车比对试验,验证了上述信号处理及误差补偿方法的有效性。
Considering MIMU/GPS/Compass integrated navigation system, GPS signal condition, MEMS gyro de-noising and error compensation of compass methods are proposed in this paper. Processing GPS signal by bilinear trend extrapolation method and MIMU gyro assistance, removing noise of MEMS gyro by AR（3） model, and compensating error of compass by rotating calibration method. Comparing outdoor on vehicle experiments by self-developed MIMU/GPS/Compass and high accuracy navigation system, results show the validity of signal processing and error compensation methods.
出处
《舰船电子工程》
2009年第12期66-68,106,共4页
Ship Electronic Engineering
基金
总装预研项目(编号:51309010202)
国家863项目(编号:2006AA06A203
2006AA12Z3)资助
