Distributed filtering device for MIMU and GPS combined navigation system

A combined navigation system and filter device technology, applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve problems such as signal volatile lock, large model error, and blocked application of MM method to achieve enhanced robustness and stability, enhanced filter tolerance, and good estimation effects

A combined navigation system and filter device technology, applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve problems such as signal volatile lock, large model error, and blocked application of MM method to achieve enhanced robustness and stability, enhanced filter tolerance, and good estimation effects

CN101769743AInactive Publication Date: 2010-07-07BEIHANG UNIV +1
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  • Distributed filtering device for MIMU and GPS combined navigation system
  • Distributed filtering device for MIMU and GPS combined navigation system
  • Distributed filtering device for MIMU and GPS combined navigation system

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Experimental program
Comparison scheme
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Embodiment Construction

[0017] see figure 1 As shown, the MIMU / GPS integrated navigation system includes MIMU, GPS and distributed filters. MIMU obtains velocity, attitude and position information after inertial navigation calculation. GPS provides heading and speed information. The distributed filtering device uses the heading and speed information of MIMU and GPS as the measurement input to filter, and the filtered information is fed back to the MIMU for correction, and finally the corrected speed, attitude and position information are used as the MIMU / GPS integrated navigation system the final output of .

[0018] see figure 2 As shown, the distributed filtering device designed in the present invention includes 5 difference comparison units and 5 filters.

[0019] The five difference comparison units refer to the A difference comparison unit 11 , the B difference comparison unit 21 , the C difference comparison unit 31 , the D difference comparison unit 41 and the E difference comparison unit...

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Abstract

The invention discloses a distributed filtering device for a MIMU and GPS combined navigation system, which comprises 5 difference comparison units and 5 filters. The difference comparison units and the filters respectively filter the course and speed information as measurement input and outputted by the MIMU and GPS, and transmit the information after filtering back to the MIMU for rectification; finally, the rectified speed, attitude and position information is used as the final output of the MIMU / GPS combined navigation system. The filtering device can reduce the calculated quantity of the system, has high error tolerance capacity, also compensates through real-time gyrodrift estimation, and accordingly improves the accuracy of the output information of the MIMU / GPS combined navigation system.

Description

technical field [0001] The present invention relates to a filtering device, more particularly, to a distributed filtering device suitable for a micro-inertial and global positioning integrated navigation system (MIMU / GPS). Background technique [0002] Micro-inertial measurement system (MIMU) is an inertial navigation system composed of micro-mechanical gyroscopes, micro-mechanical accelerometers and integrated circuits. It has the advantages of complete autonomy, no external interference, high short-term accuracy and fast data update, and low cost. Small size, light weight, low power consumption. The disadvantage is that the accuracy is low, the system error accumulates over time, and it is difficult to be competent for long-term navigation tasks. [0003] The Global Positioning System (GPS) is a satellite navigation system that has the advantages of high positioning accuracy and long-term stability. The disadvantages are that the autonomy is poor, the signal is easy to l...

Claims

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Application Information

Patent Timeline
07 Jul 2010
Publication
CN101769743A
IPC
G01C21/20; G01C21/16
Inventors
富立; 刘志平