摘要
针对我国军用和民用领域对微小型组合导航系统的迫切需求,提出了基于MEMS技术的SINS/GPS组合导航系统方案。为设计低成本、小体积、低功耗、高精度、高稳定性的组合导航系统,对微小型组合导航系统进行了研究,设计了传感器模块电路、数据处理电路和串口通信电路。基于ARM芯片STM32F401RE进行了硬件设计,根据卡尔曼滤波算法设计了组合导航系统的软件和位姿估计算法。测试结果表明,所设计的组合导航系统满足导航精度要求。
According to the urgent demands for miniature integrated navigation systems in our military and civilion domains, the scheme of SINS/GPS integrated navigation system based on MEMS is proposed. In order to design the integrated navigation system featuring low cost,small sizes, low power consumption, high accuracy and high stability, the miniature integrated navigation system is studied, and the circuits of sensor module,data processing and serial communication are designed. Based on the features of ARM chip STM32F401RE, hardware design is conducted, and the software of integrated navigation system and attitude estimation algorithm are designed in accordance with Kalman filtering algorithm. Test results show that the integrated navigation system meets the requirement of precision of navigation.
出处
《自动化仪表》
CAS
2016年第12期67-70,75,共5页
Process Automation Instrumentation
基金
"十二五"装备预先研究基金资助项目(编号:51309030601)
