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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
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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 rotation, resulting in the low-cost integrated navigation system's strapdown inertial navigation system. Continuously accumulating, the heading and attitude data of the low-cost integrated navigation system obtained through the calculation of the strapdown inertial navigation system are not very accurate under dynamic conditions

Method used

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

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Embodiment 1

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the method and device for discriminating pulse signals of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0022] Embodiment 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 multi-sensor data acquisition, signal processing, strapdown inertial navigation solution, data fusion (including heading optimal estimation and combined Kalman filter) and other processing. The above-mentioned satellite receiver may be a GPS satellite receiver or a satellite receiver of the Beidou navigation system.

[0024] Based on the above-mentioned...

Embodiment 2

[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 In the navigation computer in , its specific structure is as follows Figure 6 As shown, the following modules are included:

[0154] The MEMS inertial device heading calculation module 61 is used to perform strapdown inertial navigation calculation according to the output data of the micro inertial measurement unit in the integrated navigation system to obtain the heading ψ of the carrier I , Calculate the heading ψ of the carrier according to the output data of the magnetoresistive sensor in the integrated navigation system 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 estimated performance index according to the set heading of the carrier, and calculate the ...

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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

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Application Information

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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
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