摘要
卫星导航系统实现导航定位功能要求可见星数大于等于4颗,这一限制影响了卫星导航系统在信号遮挡严重环境下的应用,如城市峡谷、大型桥梁等。针对这一问题,提出了将卫星导航系统与低成本MEMS惯性器件(IMU)进行信息融合的方案并用硬件实现该系统。将GPS与MEMS惯性器件以紧组合的工作模式融合,采用卫星原始星历信息作为观测量建立观测模型并以卡尔曼滤波实现信息融合,该系统在少于4颗可见星时仍能实现导航。为了验证这一方案,进行了仿真试验和跑车实验,结果表明该系统在可见星数小于4颗的情况下仍能保持较好的导航精度。
The positioning application of GPS is limited by the requirement of at least 4 visible satellites, especially in the environment like city valley ,tunnels and bridges in which satellite signals can easily be interrupted. Aiming at realizing a seamless navigation system, this paper proposed the scheme of GPS/ MEMS-IMU tightly-coupled navigation system which utilizes pseudorange and pseudorangerate as observation and then information fusion is conducted by Kalman filter. In order to test and verify the proposed scheme, simulation and dynamic car test are made. The result shows that the proposed system keeps relative good navigation accuracy when visible satellites less than 4.
出处
《系统仿真技术》
2013年第3期259-264,共6页
System Simulation Technology
基金
国家自然科学基金重大研究计划资助项目(91016019)
南京航空大学博士学位论文创新与创优基金资助项目(BCXJ10-05)
江苏高校优势学科建设工程资助项目
关键词
卫星导航系统
微机电器件
惯性导航
无缝导航
紧组合
global positioning system （GPS）
micro-electro-mechanical systems （MEMS）
inertial navigation
seamless navigation
tightly-coupled
