| 低成本车载导航仪的组合导航算法设计 |
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| 引用本文： | 袁赣南,梁海波,何昆鹏,王文.低成本车载导航仪的组合导航算法设计[J].中国惯性技术学报,2011,19(1). |
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| 作者姓名： | 袁赣南 梁海波 何昆鹏 王文 |
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| 作者单位： | 1. 哈尔滨工程大学,自动化学院,哈尔滨,150001
2. 北京航天时代激光导航技术有限责任公司,北京,100143 |
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| 基金项目： | 中国人民解放军总装备部预研基金项目(9140A09031008CB01) |
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| 摘 要： | 针对GPS信号间歇性受阻而无法持续导航的问题,提出了一种由GPS、微惯性导航系统,以及电子罗盘构建车载组合导航系统的方案。以GPS位置信息是否有效为判断条件,设计了组合策略。当GPS信息有效时,采用以位置误差作为观测量的组合导航算法;当GPS信息无效时,引入速度约束辅助导航算法。试验表明,该组合策略能够在GPS有效时提供高精度的姿态、速度和位置信息,在GPS失效时,使位置误差得到有效抑制,从而保证了车载导航仪的导航精度和导航信息的持续性。
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| 关 键 词： | 组合导航 全球定位系统 惯性导航 速度约束 |
Design of integrated navigation algorithm based on low-cost vehicular navigator |
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| YUAN Gan-nan,LIANG Hai-bo,HE Kun-peng,WANG Wen.Design of integrated navigation algorithm based on low-cost vehicular navigator[J].Journal of Chinese Inertial Technology,2011,19(1). |
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| Authors: | YUAN Gan-nan LIANG Hai-bo HE Kun-peng WANG Wen |
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| Institution: | YUAN Gan-nan1,LIANG Hai-bo1,HE Kun-peng1,WANG Wen2(1.College of Automation,Harbin Engineering University,Harbin 150001,China,2.Beijing Aerospace Times Laser Inertial Technology Company,Ltd,Beijing 100143,China) |
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| Abstract: | To solve the problem that GPS can not supply continuous navigation information due to GPS block in complex terrains,an integrated navigator for vehicle application is built which includes GPS,micro-mechanical inertial navigation system,and electronic compass.The strategy of integration is presented whose judging condition is whether GPS information is valid or not.If the GPS information is valid,the integration algorithm takes the position error as its measurement vector,and if the GPS information is invali... |
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| Keywords: | integrated navigation global positioning system inertial navigation velocity control |
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