一种低成本的MIMU/GPS组合导航系统快速对准方法

低成本的MIMU元件在组合导航领域取得了广泛应用,但其精度较低,无法实现自主初始对准。针对此问题,研究并提出了一种基于GPS辅助的MIMU/GPS组合导航系统对准方法。方法的基本思想是通过同一位移矢量在载体和导航两种坐标系下的不同表现形式来找出两种坐标系之间的关系,进而实现系统的初始对准。方法先用GPS对某一短距离位移进行精确定位,再用其定位结果反推MIMU捷联解算中的初始对准角。为了加强对非线性方程组的求解能力,在求解过程中引入了遗传算法,并选取了六组不同失准角状态下的数据进行了验证。计算结果表明,该方法具有较高的对准精度和较快的对准速度,因此是有效可行的,同时该方法的实现不借助于任何外部对准信息,由此节省了应用成本。

Fast alignment method for low-cost MIMU/GPS integrated navigation system

The low-cost MIMU has been widely applied in the navigation fields, but its accuracy is too poor to realize the initial alignment by itself. Aiming at this problem, an initial alignment method for MIMU/GPS integrated navigation system is put forward. This method realizes the initial alignment by finding the relationship between the carrier and navigation coordinate systems from the different expressions of the same displacement vector in different coordinate systems. Firstly, a short displacement is positioned by GPS. Secondly, the initial alignment angles are inversely calculated by the position result in strapdown resolving in order to get the accurate solution, and the genetic algorithm is introduced to solve the nonlinear equations. Lastly, the method is certified by six sets of misalignment data. The results indicate that the method is effective with its high alignment accuracy and fast alignment process. In addition, this method is independent of outer information, so the alignment cost is saved.