摘要
针对MEMS-IMU/GPS组合导航系统数据融合时坐标系不统一的问题,提出了一种由GPS坐标系(WGS-84坐标系)到惯性坐标系(当地水平游移坐标系)的转换方法。该方法在由GPS坐标系转换到西北天惯性坐标系的基础上,计算与西向的游移偏航角,最终完成坐标系的统一。经实际的跑车实验验证,由GPS信息转换到惯性坐标系下的偏航角与惯性偏航角偏差小于1°,精确的实现两坐标系的统一,在实际的工程应用中具有一定的参考价值。
In view of the problem that the coordinate systems are not unitive when fusing the data of MEMS-IMU/GPS integrated navigation system,a conversion method from GPS coordinate system （WGS-84 coordinate system） to the inertial coordinate system （local level mobile coordinate system） was presented. Based on the conversion from GPS coordinate system to the west-north-up inertial coordinate system,the west-facing mobile yaw angle was calculated ,and finally,the unity of coordinate systems was completed. Practical sports car experiment validates that the deviation between the yaw angle which converts the information from the GPS coordinate system to the inertial coordinate system and the yaw angle of inertia system is less than 1°,achieving the precise unity of the two coordinate systems and illustrating some reference in practical engineering applications.
出处
《传感技术学报》
CAS
CSCD
北大核心
2010年第4期522-524,共3页
Chinese Journal of Sensors and Actuators
基金
山西省青年科技研究基金资助(2008021027)
关键词
GPS
INS
组合导航
坐标系统一
GPS
INS
integrated navigation
coordinate system unity
