多信息融合的定向测姿方法的研究

Research on attitude determination method based on multi-information fusion

针对双GPS定位定向系统和MEMS惯性传感器在姿态解算及导航系统中所呈现出的优点与不足,本文先后对惯性导航系统的四元数算法,基于MARG传感器(三轴陀螺、三轴加速度计和三轴磁阻)的航姿解算方法以及结合惯性导航系统和双GPS系统的航姿解算方法进行研究,通过计算机仿真实验证明了3种方案的可行性,并得出进一步的结论:采用组合导航的方式,由双GPS部分、IMU部分和数据处理部分组成的基于惯性导航和双GPS的多信息融合的航姿系统,具备更好的预测精度和可靠性。

In the light of Dual-GPS positioning and orientating system＇s and MEMS inertial sensor＇s advantages and disadvantages in the attitude calculation and the navigation system,this paper has researched on the quaternion of INS,attitude algorithm based on MARG sensor and the INS and Dual-GPS solution.The computer simulation shows that this three schemes is feasible,and the results show that the INS and Dual-GPS solution which is compose of Dual-GPS,IMU and data processing component has better prediction accuracy and reliability.