基于GPS与惯性组件的复合测姿系统设计

摘要

Focusing on the issues of limit space of micro-carrier and large-sized attitude measurement system can not be installed etc, this paper presents a low-cost micro-composite attitude measurement program.The composite attitude measurement system consists of single antenna GPS and MEMS inertial sensors, and the information of GPS and MEMS inertial sensors are fused by using extended Kalman filter to improve the accuracy of attitude calculation.Finally, an outdoor vehicle experiment was carried out and the experimental results show that the roll angle and pitch angle error can be controlled within 1 ° and the heading angle error can be controlled at about 2 ° by using the complex attitude measurement system.%针对微小型载体空间有限而无法安装大型测姿系统,提出了一种低成本的微型复合测姿方案.复合测姿系统由单天线GPS和MEMS惯性组件构成.利用扩展卡尔曼滤波将单天线GPS和MEMS惯性组件信息融合,提高了姿态估计精度.室外车载实验结果表明,利用该复合测姿系统解算的滚角和俯仰角误差可控制在1°以内,航向角误差可控制在2°以内.