纯惯导数据自主性强、更新率高、实时性好,但系统误差会随时间积累.GPS将误差限制在一定范围内,但数据更新较慢,易受外界干扰.以IMU、GPS和磁航向计构成的低成本组合导航系统已成为目前研究的热点.本研究构建了低成本小型航姿系统.为了更好地满足工程需要,增强系统的实时性,考虑到时间延迟对系统的影响,设计10维卡尔曼滤波器用于导航计算,实测跑车并对数据进行仿真.初步结果表明,所构建的组合导航系统精度和稳定性均满足导航要求.%Inertial navigation system has many advantages such as strong independence, high update rate, good realtime performance, but the system error will accumulate with time. GPS will limit the error within a certain range, but the data update is slow and vulnerable to outside interference. Low-cost navigation system, which consists of IMU, GPS and magnetic heading meter, is becoming a research hotspot. A low-cost small AHRS is consructed. In order to apply theory into practice, taking into account the impact of time delay on the system, a 10 dimensional Kalman filter for navigation is designed. The actual measurement data are used to simulation. In a series of ground lest, it is shown that the system accuracy and stability meet navigation requirements.
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