摘要
设计了一个IMU/GPS/磁罗盘组合导航系统和相应导航算法,针对该系统的特点设计了特殊的静基座对准算法。根据系统元器件的特殊性和以往工作经验,采用渐消记忆Kalman滤波算法对IMU和GPS信息进行组合。跑车实验表明,该系统具有精度高,工作稳定等优点,达到了设计要求。
An IMU/GPS/compass integrated navigation system and its navigation algorithm are designed. Aiming at the characteristics of this system, initial alignment algorithm is designed. According to the parts of apparatus particularity, adaptive Kalman algorithm is adopted for integrating information of IMU and GPS. The experiment results demonstrate that this system meets the expected design demand, and has the expected accuracy and high reliability.
出处
《航天控制》
CSCD
北大核心
2005年第3期40-42,共3页
Aerospace Control
关键词
惯性测量装置
全球定位系统
组合导航
Inertial measurement unit Global positioning system Combined navigation
