MEMS-IMU/GPS组合导航系统的实现

针对我国军事和民用对低成本、微小型、高性能导航系统的迫切需求,提出基于MEMS技术的IMU/GPS组合导航系统方案,深入研究了构建该组合导航系统的关键技术。由于MEMS陀螺的零偏受到温度影响,提出采用递推最小二乘自适应标定算法（ARLS）进行误差标定和补偿,从而提高MEMS陀螺的使用精度;建立了MEMS-IMU/GPS组合的卡尔曼滤波器,利用加速度计倾角传感器原理估计载体的水平姿态,增强了姿态信息的冗余度和可靠性;设计了该组合导航系统的信息融合策略。最后,构建了基于DSP的MEMS-IMU/GPS组合导航系统。机载飞行试验结果表明,该系统算法正确、性能可靠,达到了较高的导航精度,具有广阔的应用前景。

MEMS-IMU/GPS integrated navigation system

An integrated navigation system based on MEMS-IMU/GPS is presented, and some important techniques for system construction are discussed. Since MEMS gyro's bias is affected by temperature, an adaptive recursive least square algorithm is employed to calibrate the error and improve the accuracy of MEMS gyro in application, and the Kalman filter of MEMS-IMU/GPS integrated navigation system is built up. In this filter, the accelerometer's information is used to calculate the vehicle's attitude and improve the system's attitude redundancy and reliability. Besides, some information fusion strategy is designed. In the end, a physical system based on DSP is constructed. The airborne experiment results indicate that the algorithms presented are correct, reliable and with good accuracy. The integrated system designed in this paper has broad application foreground.