The data fusion of Beidou/SINS based on UKF

摘要

According to the basic principle of integrated navigation, the algorithm of Unscented Kalman Filter is used in current study. Both the simulation of Beidou/SINS Integrated Navigation system and a car running experiment are proposed in this paper. For the car experiment, using an autopilot for Guided Bomb which equipped with a receiver of Beidou and a Micro Inertial Measure Unit (MIMU), and then the experiment is proceeded on a car. The result of this experiment shows that using the algorithm of UKF fusion of the output information of Beidou Navigation System and SINS can effectively estimate the state errors. Under the process of feedback compensation, it can enormously improve the precision and the data refresh rate of the integrated navigation information. Under the condition of the hardware and software mentioned in this paper, the accuracy of location can reach 6 meters, and the data refresh rate can be improved to be 100Hz comparing with 1Hz that the Beidou gives. The accuracy indexes showed in this experiment can basically satisfy the requirement of a Precision Guided Bomb.