G PS 间歇性失效环境下的低成本多传感器组合导航系统研究

摘要

For the problem that the navigation precision of GPS/SINS integrated navigation declines rapidly under intermittent GPS-denied environment, a low-cost multi-sensor integrated navigation system is designed.The system consists of gyroscope, accelerometer, barometer, magnetometer and GPS, and a-chieves the purpose of accurate navigation and positioning by using Kalman filter for information fusion. For the intermittent GPS-denied environments, the system uses the measurement information of barometer and magnetometer to assist SINS’ s navigation.This system is verified by using smart product with built-in MEMS multiple sensors.The experimental results show that the integrated navigation system can realize precise navigation and positioning under intermittent GPS-denied environment.%针对GPS／SINS组合导航系统在GPS间歇性失效环境下导航精度迅速下降的问题，设计了一种低成本的多传感器组合导航系统。该系统由陀螺仪、加速度计、气压计、磁力计和GPS组成，通过卡尔曼滤波器进行信息融合来实现精确的导航定位。针对GPS间歇性失效环境，利用气压计和磁力计的测量信息来辅助SINS进行导航。采用内置MEMS多传感器的智能产品对设计的系统进行了实验验证。实验结果表明，该系统可以在GPS间歇性失效的环境下实现精确的导航定位。