【摘要】 针对GPS数据更新频率低,而MSINS(Micro-Strapdown Inertial Navigation Systems)误差随时间积累的特点,提出了双GPS/MSINS组合导航系统方案;首先,根据系统需求设计了基于SOPC(System on Programmable Chip)的组合导航系统硬件方案;其次,为了解决以往单GPS/MSINS组合姿态精度不高的问题,给出了在松耦合方式下的双GPS/MSINS组合的状态方程和测量方程;最后,对系统进行了实验验证;结果表明,双GPS/MSINS组合导航系统能提供更好的定位精度(优于±1m)和定姿精度(优于±1°)。更多还原

【Abstract】 In accordance with features of GPS:Low-data update frequency,and MSINS:the navigation errors grow without bound over time,an integrated navigation system based on Dual-GPS/MSINS is presented.First,the hardware solution of integrated navigation system based on SOPC is designed to fulfill the demands of such systems.Second,in order to overcome low attitude accuracy of the singleGPS/MSINS integration,observation equations and state equation of the Dual-GPS/MSINS integration is designed in a loosely coupled approach.At last,the experiment of the Dual-GPS/MSINS integration is conducted.The results indicate that Dual-GPS/MSINS integration is able to provide better location(better than±1m)and attitude(better than±1°)accuracy.更多还原