Research on micro SINS/GPS Integrated Navigation System based on MEMS sensors
In this paper we describe a micro SINS/GPS Integrated Navigation System based on MEMS sensors. According to the special characters of micro navigation sensors, the navigation errors of Microminiaturized Inertial Measurement(MIMU), micro GPS receivers were analyzed and modeled using the time-sequence analysis from the random series respectively in order to achieve high-precision navigation. In order to obtain the precise information by the navigation information of multi-sensors, a Kalman filter is applied to combine the inertial solutions with the GPS position and velocity output to estimate errors in the inertial navigation solutions and the IMU measurements. Estimates of the inertial error states are fed back to the SINS algorithm to improve inertial navigation accuracy. Test results are presented showing the performance of the integrated MEMS SINS/GPS. Data is provided showing the position, velocity, and attitude accuracy when operating with GPS aiding.
INS/GPS MEMS sensors state vector IMU Kalman Filter
Hu Yonghao Wang Yangzhu Zhao Qibing
Beijing University of Aeronautics and Astronautics, Beijing, 100191, China
国际会议
三亚
英文
1289-1293
2012-01-06（万方平台首次上网日期，不代表论文的发表时间）