MIMS/GPS组合导航系统设计与实验

 GPS 接收机与微型惯性传感器组成的低成本、轻小型组合导航系统可以弥补各自的不足, 防止导航定位误差随时间积累, 并且提高了系统的抗干扰能力。采用状态和偏差去耦估计方法, 在开环卡尔曼滤波器结构的基础上, 引入了偏差反馈补偿; 并利用双GPS 接收机测量方位角解决了组合系统的初始方位对准问题。车载实验表明, 样机的定位精度和GPS 相当, 并具有较好的重复性。尤其是当GPS 短时间失锁时, 系统仍能保持较高的定位精度, 从而增强了系统的可靠性。

Design and Experiment of MIMS/GPS Integrated Navigation System

The integration of GPS receivers and micro-miniature inertial sensors characterized by its small size, light weight and low cost can overcome their own shortcomings, avoid the positioning error accumulated with the growing time, and improve the anti-interference ability of the system. The decoupled state and bias estimation and bias feedback compensation are used on the basis of the open Kalman filtering structure. Bi-GPS receivers are applied to measure the azimuth angle in terms of initial alignment of the integrated system. Vehicle tests show that the positioning accuracy of the prototype is about the same to the GPS, and is provided with a quite good repeatability.Especially, when GPS receivers were not locked in synchronism for a short time, the system would still keep the high positioning accuracy. Then the reliability of the system has been increased.