| 基于船舶的GPS/单陀螺航向融合算法 |
| |
| 引用本文： | 沙晓萍,陈惠民,鲍敏祺,韩逸昕. 基于船舶的GPS/单陀螺航向融合算法[J]. 上海大学学报(自然科学版), 2008, 14(1): 7-9 |
| |
| 作者姓名： | 沙晓萍 陈惠民 鲍敏祺 韩逸昕 |
| |
| 作者单位： | 上海大学 通信与信息工程学院,上海 200072 |
| |
| 基金项目： | 上海市重点学科建设项目 |
| |
| 摘 要： | 研究一种应用于船舶的GPS/单陀螺航向融合算法.首先,根据陀螺输出的角速率来估算船舶航向角信息;然后,采用改进的卡尔曼滤波的GPS/单陀螺融合算法,估算出陀螺的航向角估计误差和陀螺的漂移;最后,得出船舶航向角的准确信息.试验结果表明,该融合算法使得航向角实际应用误差控制在±1°之内,其输出值相当平滑,是一种有效的航向角确定算法.
|
| 关 键 词： | GPS/单陀螺 航向角 卡尔曼滤波 |
| 文章编号： | 1007-2861（2008）01-0007-03 |
| 收稿时间： | 2006-10-31 |
| 修稿时间： | 2006-10-31 |
A GPS/Gyro Attitude Fusion Algorithm for Marine Application |
| |
| SHA Xiao-ping,CHEN Hui-min,BAO Min-qi,HAN Yi-xin. A GPS/Gyro Attitude Fusion Algorithm for Marine Application[J]. Journal of Shanghai University(Natural Science), 2008, 14(1): 7-9 |
| |
| Authors: | SHA Xiao-ping CHEN Hui-min BAO Min-qi HAN Yi-xin |
| |
| Affiliation: | School of Communication and Information Engineering, Shanghai University, Shanghai 200072, China |
| |
| Abstract: | This paper introduces a GPS/single gyro yaw value fusion algorithm for marine application. It first introduces the Runge-Kutta method to estimate the yaw value according to the angular velocity output of gyro. When the GPS signal is output, Kalman filtering is used to estimate yaw value error and bias of gyro to give the accurate value. Simulation results indicate that, by using the fusion algorithm, the final yaw value error is within ±1°. The output is very smooth, indicating that the algorithm is sound and effective. |
| |
| Keywords: | GPS/single gyro yaw Kalman filtering |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《上海大学学报(自然科学版)》浏览原始摘要信息 |
|
点击此处可从《上海大学学报(自然科学版)》下载全文 |
|
