Data fusion method and device for low-cost integrated navigation system

An integrated navigation system and data fusion technology, which is applied in the data fusion field of low-cost integrated navigation systems, can solve the problems of low precision, low precision, and low MEMS gyroscope precision, and achieves high robustness and strong adaptive ability. Effect

Active Publication Date: 2012-07-18
华力智芯(成都)集成电路有限公司
View PDF5 Cites 20 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the low precision and easy divergence of MIMU make the estimation of attitude and heading become an urgent problem for low-cost integrated navigation systems.
[0004] Due to the low precision of the MEMS gyroscope in the low-cost integrated navigation system, it cannot be sensitive to the angular velocity of the earth's r

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Data fusion method and device for low-cost integrated navigation system
  • Data fusion method and device for low-cost integrated navigation system
  • Data fusion method and device for low-cost integrated navigation system

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0020] Example one

[0021] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the method and device for discriminating pulse signals in the implementation of the present invention with reference to the accompanying drawings.

[0022] Example one

[0023] The structure of the low-cost integrated navigation system provided by the embodiment of the present invention is as follows figure 1 As shown, it is mainly composed of MIMU, MEMS magnetoresistive sensor, single antenna satellite receiver and navigation computer. The navigation computer completes the processing of multi-sensor data acquisition, signal processing, strapdown inertial navigation solution, data fusion (including heading optimal estimation and combined Kalman filtering). The aforementioned satellite receiver may be a GPS satellite receiver or a satellite receiver of the Beidou navigation system.

[00...

Example Embodiment

[0152] Example two

[0153] This embodiment provides a data fusion device in a low-cost integrated navigation system. The data fusion device is set in the figure 1 The specific structure of the navigation computer in Image 6 As shown, including the following modules:

[0154] The MEMS inertial device heading calculation module 61 is used to perform strap-down inertial navigation calculation based on the output data of the micro inertial measurement unit in the integrated navigation system to obtain the heading ψ of the carrier I 、According to the output data of the magnetoresistive sensor in the integrated navigation system, the heading ψ of the carrier is calculated m 、According to the output data of the satellite receiver in the integrated navigation system, the heading ψ of the carrier is obtained G ;

[0155] The carrier final heading calculation module 62 is used to optimize the estimation performance index according to the set heading of the carrier, and calculate the ψ I , Ψ m...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a data fusion method and a data fusion device for a low-cost integrated navigation system. The data fusion method comprises the main steps of: obtaining a course psiI of a carrier by carrying out strapdown inertial navigation calculation on output data of a microinertia measuring unit in the integrated navigation system; obtaining a course psim of the carrier by carrying out calculation on output data of a magnetoresistive sensor in the integrated navigation system; obtaining a course psiG of the carrier by carrying out calculation on output data of a satellite receiver in the integrated navigation system; and carrying out superposition on the psiI, the psim and the psiG by certain weight according to the set optimum estimated performance index of the course of the carrier, and obtaining an optimum estimation value of the course of the carrier. The embodiment of the invention has the advantages that under the confinement of the optimum performance index with minimum estimated variance, an estimation coefficient can be adjusted automatically according to the dynamic characteristic of the carrier, the optimum course estimation in the moving process of the carrier is given, the self adaptability is stronger, the robustness is good, and the practical application in engineering is convenient.

Description

technical field [0001] The invention relates to the field of inertial navigation, in particular to a data fusion method and device for a low-cost integrated navigation system. Background technique [0002] The low-cost integrated navigation system is usually composed of MEMS (Micro-Electro-Mechanical Systems, Micro-Electro-Mechanical Systems) devices, its position and speed accuracy is guaranteed by the GPS (Global Positioning System, Global Positioning System) receiver, and the heading and attitude are controlled by MIMU (Miniature Inertial Measurement Unit, micro inertial measurement unit) provides. [0003] At present, the general-purpose chip of GPS receiver can basically guarantee the accuracy of position 10m and speed 0.1m / s, which meets the needs of low-cost navigation. Heading and attitude are important parameters for low-cost integrated navigation systems such as vehicle navigation systems and flight control systems for small UAVs. However, the low precision and e...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C21/20
Inventor 岳冬雪戴绍忠吴光跃
Owner 华力智芯(成都)集成电路有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap