摘要
针对静止与匀速运动状态下低成本SINS/GPS组合导航系统航向角可观性差的问题,采用磁强计与低成本SINS/GPS构成新的组合导航系统,以提高系统的航向精度。给出了完整的组合导航系统卡尔曼滤波模型,利用Simulink进行了仿真实验。仿真结果表明:在静止与匀速运动状态下,SINS/GPS组合导航系统航向角误差发散,而SINS/GPS/磁强计组合导航系统的航向角有效收敛。利用某型系统进行了静态实验,实验表明:在传感器精度较差的条件下,SINS/GPS/磁强计组合系统航向角仍可以有效收敛,收敛后姿态角误差标准差小于0.2°。静态实验验证了该方法在实际应用中的有效性。
The heading error observability of the integrated system of low-cost strapdown inertial navigation system （SINS） and global positioning system （GPS） is very poor under the moving condition of stillness or uniform rectilinear. To improve the heading precision, magnetometer was added into the low-cost SINS/GPS integrated system. The complete model of integrated navigation system was derived and, simulations were implemented. The results demonstrate that the heading error of SINS/GPS integrated system diverges under the moving conditions of stillness and uniform rectihnear motion since the precision of inertial instruments are poor,while the heading error of SINS/GPS/Magnetometer integrated system converges efficiently. To validate the utility of the method in a true application,a static experiment was done. The result demonstrate that the heading error converges efficiently even the sensor precision is poor, the standard deviation of attitude error is less than 0.2° after convergence. The efficiency of the method is proved by the static experiment.
出处
《传感器与微系统》
CSCD
北大核心
2010年第8期37-40,共4页
Transducer and Microsystem Technologies
基金
高等学校博士学科点专项科研基金资助项目(20069998009)
