摘要
在自行研制的微小型MIMU/GPS/磁罗盘组合导航系统上,深入研究了组合导航算法。该组合导航系统用FPGA芯片为主控制器,以TI公司高性能DSP芯片TMS320C6713作为导航解算协处理器。它采用了圆锥误差补偿和划船误差补偿的现代捷联导航算法和18阶状态变量的扩展Kalman滤波算法进行了组合导航参数计算。经室外车载试验表明,该组合导航系统的水平姿态误差小于0.2°,航向角误差小于0.3°,定位精度小于5m。
An micro integrated MIMU/GPS/magnetic compass navigation system is self-developed in this paper.Then an in-depth study is taken on the navigation algorithm.The system adopts the FPGA as the main control chip,and the TI company＇s high performance DSP（TMS320C6713） as the computational coprocessor.The coning correction quaternion calculation and the sculling compensation are used for SINS solution.The extended Kalman filter with 18 state variables is used for the system state estimation.Experimental testing of the system was performed in land vehicle.The results show horizontal attitude error is less than 0.2°,head error is not larger than 0.3°,and positioning error is within 5 meters.
出处
《舰船电子工程》
2010年第4期86-88,共3页
Ship Electronic Engineering
基金
总装预研项目(51309010202)
国家863项目(编号:2006AA06A203
2006AA12Z302)资助
