【作者】 皮运生；

【导师】 施国梁；

【作者基本信息】 苏州大学 ， 通信与信息系统， 2007， 硕士

【摘要】 为了满足现代高性能导航系统高精度和低成本的双重要求,GPS/SINS组合导航系统是一种较好的解决方案。本文的研究目的是在低成本的前提下提高导航系统的可靠性和定位精度。本文针对低成本GPS/SINS组合导航系统设计理论及工程应用进行了深入研究。采用低成本微惯性测量元件、低成本GPS-OEM板、ARM处理器和液晶显示屏设计了一种低成本的GPS/SINS组合导航系统,从硬件上实现该组合导航系统。通过分析GPS/SINS组合导航系统的组合模式,系统设计采用工程上易于实现的位置、速度组合方式,采用反馈校正的方法,来提高捷联惯导模块的导航定位精度。对捷联惯性导航模块的数字迭代算法进行了深入研究,详细描述了捷联惯导模块工程应用中的初始对准、姿态更新、速度更新及位置更新算法。提出了一种低成本GPS/SINS组合导航系统算法,绘制了该算法流程图并用程序实现该算法。设计了GPS接收和液晶显示程序,文中给出了程序流程图。对本课题所设计的低成本GPS/SINS组合导航系统的实验数据进行了分析,结果表明组合后的系统定位误差在15m以内,比未组合前的精度有较大提高。文中还提出提高系统性能的改进方案。更多还原

【Abstract】 In order to satisfy the requirements of high precision and low-cost of modern navigation system, the GPS/SINS integrated navigation system is one kind of better plans. This paper aimed to improve the reliability and accuracy of the positioning system and reduce the cost at the same time.The design theory and engineering application of low-cost GPS/SINS integrated navigation system is studied in this paper. A low-cost GPS/SINS integrated navigation system is designed by using low-cost IMU and GPS-OEM board, ARM processor and LCD, which was implemented on hardware. Through analyzing the integrated model of GPS/SINS integrated navigation system, the system design adopts the position-velocity integrated model which is easy to realize in the engineering application. Due to the adoption of feedback, the precision of the SINU has been improved. The SINU iterative algorithm was deduced in details, which contains initial alignment algorithm, attitude update algorithm, velocity update algorithm, and position update algorithm. Based on the research of SINS navigation algorithm, the low-cost SINS/GPS integrated navigation algorithm is designed in this paper. In this paper the algorithm flow chart has been given and this algorithm is also programmed. The GPS receive and the LCD display program is designed, and the program flow diagram is also given in this paper. The experiment data of the low-cost GPS/SINS integrated navigation system is analyzed. The result shows that the positioning error of the integrated navigation system is less than 15m, and the precision is highly improved. Finally, the improved project is introduced. The results have practical value for engineering applications.更多还原