基于嵌入式平台的MEMS/GPS 组合导航系统实现研究

主要研究基于PC104平台的MEMS/GPS组合导航系统硬件实现方法.首先设计了对MTi-30 MEMS器件与GPS接收机的数据采集软件,基于统计分析方法分析建立了传感器的误差模型参数,构建了MEMS/GPS组合算法模型,基于MEMS惯性器件和GPS接收机实测数据确定了Kalman滤波器的系统噪声阵及量测噪声阵模型参数;然后利用实际测量数据进行了MEMS/GPS组合系统导航性能仿真;最后基于PC 104嵌入式平台,构建了MEMS/GPS组合导航系统原理样机,分别在静态和动态情况下完成MEMS/GPS组合导航算法实时测试,导航结果验证了硬件平台及导航算法的正确性.

Physical Implementation of MEMS/GPS Integrated Navigation Based on the Embedded Platform

This paper mainly studied the MEMS/GPS integrated navigation system based on PC104. Firstly, we designed the software for MTi - 30 MEMS devices and GPS receiver data acquisition. Statistical analysis method was used to establish error model parameters of the sensor and MEMS/GPS combination algorithm model was constructed. Based on the measured data of MEMS inertial device and GPS receiver, we determined the parameters of system noise and measurement noise matrix of Kalman filter. Then the MEMS/GPS integrated navigation system was studied by using the actual measurement data. Finally, in the static and dynamic case, built on the PC104 platform, real-time integrated navigation was tested and the correctness and precision of the integrated navigation program was verified