基于IMU/GPS的性能导航方法研究

利用直角坐标系与大地坐标系之间的关系,将状态方程直接采用经纬度描述,GPS测量数据与电子地图上的经纬度相匹配,建立了混合模型,给出了一种新的GPS与IMU融合估计方法,提高了重复定位精度,更方便地实现组合导航系统功能。采用GPS和IMU装置进行了地面车辆试验和实际飞行试验,说明了模型和方法的适用性。

Abstract：

A mixed model was established and a new fusion estimation method for GPS and IMU was proposed through the relationship between the Cartesian coordinate system and the ground coordinate system,and the state equation described by the latitude and longitude directly,and the GPS measurement data and electronic map matched to the latitude and longitude.The provided method has improved the repeatability positioning accuracy and more easily integrated navigation system functions.The ground and actual flight were tested to illustrate the applicability of the model and method with GPS and IMU device.

Study of Performance Navigation Method Based on IMU/GPS

A mixed model was established and a new fusion estimation method for GPS and IMU was proposed through the relationship between the Cartesian coordinate system and the ground coordinate system,and the state equation described by the latitude and longitude directly,and the GPS measurement data and electronic map matched to the latitude and longitude.The provided method has improved the repeatability positioning accuracy and more easily integrated navigation system functions.The ground and actual flight were tested to illustrate the applicability of the model and method with GPS and IMU device.