| 一种低成本GPS/INS紧耦合组合导航系统 |
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| 引用本文： | 鲁郁,胡锐,杨云春.一种低成本GPS/INS紧耦合组合导航系统[J].武汉大学学报(信息科学版),2011(4):481-485. |
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| 作者姓名： | 鲁郁 胡锐 杨云春 |
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| 作者单位： | 中国科学院微电子研究所通信与多媒体SOC研究室;北京耐威时代公司 |
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| 基金项目： | 国家863计划重点资助项目(2009AA011700) |
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| 摘 要： | 描述了一种低成本的GPS/INS组合导航系统,经过理论推导得到了系统具体的实现方法,并通过市场上大量使用的低成本GPS模块和MEMS陀螺和加速度计实现了该系统。实际路测数据结果显示,该系统基本达到了理论预期。
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| 关 键 词： | IMU INS 紧耦合 扩展卡尔曼滤波 |
A Low Cost GPS/INS Tighely-Coupled Navigation System |
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| LU Yu,HU Rui,YANG Yunchun.A Low Cost GPS/INS Tighely-Coupled Navigation System[J].Geomatics and Information Science of Wuhan University,2011(4):481-485. |
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| Authors: | LU Yu HU Rui YANG Yunchun |
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| Institution: | 1(1 Institute of Microelectronics,Chinese Academy of Science,3 West Beitucheng Road,Beijing 100029,China)(2 NAV Technology Co.,Ltd.,R2607,F26,North Ring Center A,18 Yumin Road,Beijing 100029,China) |
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| Abstract: | To lower the computational requirement for embedded processor,sequential measurement update algorithm is implemented.The result of road test in urban canyon verified the algorithm and architecture.This navigation system can estimate vehicle’s position,velocity and heading even when autonomous GPS receiver fails to work.The proposed application includes high-performance car navigation system,altitude estimation system,etc.Another purpose of this project is to provide a altitude reference for ultra-tightly coupled navigation system based on software radio(SDR) GNSS receiver. |
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| Keywords: | IMU INS tightly-coupled EKF |
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