摘要
根据智能交通对车辆导航和定位的要求,研究了MIMU与GPS松散组合导航系统,以速度、位置作为观测量设计了Kalman 滤波器。为了验证系统的性能,利用MIMU实验室测试数据和GPS仿真数据对该组合导航系统进行了半物理仿真,分别给出了纯MIMU、组合导航系统及GPS信号短时间丢失时的位置误差仿真曲线。分析结果表明组合系统具有良好的长期工作精度,能够满足车辆导航和定位的要求。
This paper addresses a loosely-coupled MIMU/GPS integrated system for vehicle localization. The Kalman filter of the integrated navigation system is designed with the position and velocity as measurement variables. In order to verify the performance of the integrated system, the semi-physical simulation is designed and implemented. The MIMU is fixed on a turntable and then tested in lab. The navigation data of MIMU is calculated via processing the test data by Strapdown inertial navigation system (SINS) algorithm. The position error curves of MIMU and the integrated system are presented respectively. From numerical results, it can be concluded that the integrated system can provide more accurate navigation solution than the MIMU and the GPS alone.
出处
《中国惯性技术学报》
EI
CSCD
2003年第5期1-4,共4页
Journal of Chinese Inertial Technology
