| MIMU/GPS/磁传感器组合导航系统信号处理 |
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| 引用本文： | 杨卓鹏,蔡体菁,祝燕华. MIMU/GPS/磁传感器组合导航系统信号处理[J]. 舰船电子工程, 2009, 29(12): 66-68,106 |
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| 作者姓名： | 杨卓鹏 蔡体菁 祝燕华 |
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| 作者单位： | 东南大学微惯性仪表与先进导航技术教育部重点实验室,南京,210096;东南大学仪器科学与工程学院,南京,210096 |
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| 基金项目： | 总装预研项目，国家863项目 |
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| 摘 要： | 针对MIMU/GPS/磁传感器组合导航系统,进行了GPS信号调理、MEMS陀螺仪降噪以及磁传感器误差补偿研究。用双线性趋势外推法与MIMU陀螺仪信息对GPS信号进行处理,用AR（3）误差模型对MEMS陀螺仪去噪建模,用旋转标定方法对磁传感器进行误差补偿。通过对自行研制的MIMU/GPS/磁传感器组合导航系统与高精度组合导航系统的室外跑车比对试验,验证了上述信号处理及误差补偿方法的有效性。
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| 关 键 词： | MIMU GPS 磁传感器 信号处理 |
Signal Processing of MIMU/GPS/Compass Integrated Navigation System |
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| Yang Zhuopeng,Cai Tijing,Zhu Yanhua. Signal Processing of MIMU/GPS/Compass Integrated Navigation System[J]. Ship Electronic Engineering, 2009, 29(12): 66-68,106 |
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| Authors: | Yang Zhuopeng Cai Tijing Zhu Yanhua |
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| Affiliation: | Yang Zhuopeng Cai Tijing Zhu Yanhua (1.aboratory of Micro Inertial Instrument and Advanced Navigation Technology, Southeast University , Nanjing 210096;2.School of Instrument Science ＆ Engineering, Southeast Universitye, Nanjing 210096) |
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| Abstract: | Considering MIMU/GPS/Compass integrated navigation system, GPS signal condition, MEMS gyro de-noising and error compensation of compass methods are proposed in this paper. Processing GPS signal by bilinear trend extrapolation method and MIMU gyro assistance, removing noise of MEMS gyro by AR（3） model, and compensating error of compass by rotating calibration method. Comparing outdoor on vehicle experiments by self-developed MIMU/GPS/Compass and high accuracy navigation system, results show the validity of signal processing and error compensation methods. |
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| Keywords: | MIMU GPS |
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