| 车载多传感器组合导航系统设计与实现 |
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| 引用本文： | 徐田来,崔平远,崔祜涛.车载多传感器组合导航系统设计与实现[J].系统工程与电子技术,2008,30(4):686-691. |
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| 作者姓名： | 徐田来 崔平远 崔祜涛 |
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| 作者单位： | 哈尔滨工业大学深空探测基础研究中心,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对捷联惯性导航系统(SINS)和全球卫星定位系统(GPS)构成的车栽组合导航系统在GPS无效时精度迅速下降的问题,设计了车裁SINS/里程计/GPS定位定向仪组合导航系统,使用信息滤波进行SINS误差估计并对SINS作反馈校正.当GPS不可用时,利用里程计辅助SINS.使用基于PC/104的硬件结构和模块化的软件结构,对系统进行了软、硬件的实现.实验结果证明,在GPS无效时间段内,该系统可以抑制SINS误差发散,并把误差限制在较小水平,是一种实用的车栽组合导航系统.
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| 关 键 词： | 组合导航 SINS 里程计 GPS定位定向仪 信息滤波 多传感器 组合导航 系统设计 vehicle land integrated navigation system implementation 水平 误差限制 差发 时间段 结果 实验 硬件结构 软件结构 模块化 利用 反馈校正 误差估计 信息滤波 |
| 文章编号： | 1001-506X(2008)04-0686-06 |
| 修稿时间： | 2007年5月30日 |
Design and implementation of multi-sensor integrated navigation system of land vehicle |
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| XU Tian-lai,CUI Ping-yuan,CUI Hu-tao.Design and implementation of multi-sensor integrated navigation system of land vehicle[J].System Engineering and Electronics,2008,30(4):686-691. |
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| Authors: | XU Tian-lai CUI Ping-yuan CUI Hu-tao |
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| Abstract: | The accuracy of SINS/GPS-compass will be decreased gradually when GPS is unavailable for a long time.Odometer is commonly used in land vehicles,its measurement of vehicle velocity can be integrated into SINS/GPS-compass to inhibit the divergence of SINS errors when GPS is unavailable.The SINS/Odometer/GPS-compass integrated navigation system is designed,and information filter is used to fuse these sensors data.The SINS/odometer/GPS-compass system is implemented based on the PC/104 hardware architecture and modular software architecture.The actual experiments have shown that SINS/Odometer/GPS-compass system can inhibit the divergence of SINS errors,maintaining smaller error level than SINS/GPS only,especially during long GPS outages.Those prove that this system is effective and practical. |
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| Keywords: | integrated navigation system strapdown inertial navigation system odometer GPS compass information filter |
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