基于AHRS与GNSS的室外组合定位系统设计

Design of outdoor integrated positioning system based on AHRS and GNSS

复杂姿态的机体处于复杂环境中时,单一系统不能很好地满足定位需求,针对这一问题,文中设计了一种基于航姿参考系统与全球导航卫星系统的组合定位系统。该系统使用运动传感器ICM-42688-P、地磁套件RM3100及定位模块ATGM332D-5N作为片上传感器。微处理器STM32G474CET6将运动传感器采集的加速度数据根据姿态进行解算并做低通滤波,将定位模块采集的数据使用半正矢公式解算,最后进行卡尔曼滤波后输出机体的定位和航迹信息。经过静态测试与动态测试,证明该系统在室外条件下具有较高的定位精度,在民用领域有较好的应用前景。

When the body with complex attitude is in a complex environment,a single system can not well meet the positioning requirements.To solve this problem,this paper designs an integrated positioning system based on attitude heading reference system and global navigation satellite system.The system uses motion sensor ICM-42688-P,geomagnetic kit RM3100 and positioning module ATGM332D-5N as on-chip sensors.The microprocessor STM32G474CET6 calculates the acceleration data collected by the motion sensor according to the attitude and uses low-pass filter.The data collected by the positioning module is solved by using the Haversine formula.Finally,the positioning and track information of the body are output after Kalman filtering.After static test and two dynamic tests,it is proved that the system has high positioning accuracy under outdoor conditions and has good application prospects in civil fields.