Super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system
A combined navigation system and magnetometer technology, applied in the directions of navigation by speed/acceleration measurement, radio wave measurement system, satellite radio beacon positioning system, etc., can solve the problems of low accuracy, high power consumption, large size, etc. Achieve the effect of improving reliability, low power consumption and small size
Active Publication Date: 2014-07-23
BEIJING INFORMATION SCI & TECH UNIV
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[0007] The purpose of the present invention is to overcome the shortcomings of existing integrated navigation systems such as large volume, high power consumption, and low precision, and to design a highly integrated GPS / GPS system with ultra-small volume, low power consumption, light weight, high reliability, and non-divergence of height errors. INS / magnetometer / barometer integrated navigation system
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[0018] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0019] See attached figure 1 , is the overall block diagram of the system. The whole integrated navigation system uses the navigation computer to fuse the information of the subsystems of GPS, INS, magnetometer and barometer, and output the position, velocity and attitude information of the carrier through the multi-dimensional extended kalman filter. The whole system is characterized by a high degree of integrated circuits and a unique installation structure.
[0020] figure 2 (a) The INS subsystem shown in (a) includes: three single-axis gyroscopes, two dual-axis accelerometers, temperature sensors, operational amplifiers, A / D conversion modules, and SPI communication interface. Three single-axis gyroscopes are used to measure the angular velocity of the carrier; two biaxial accelerometers are used to measure the linear acceleration of the carrier, and ...
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The invention discloses a super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system. The super-miniature GPS, INS, magnetometer and barometer integrated navigation system is characterized in that information of a GPS, information of an INS, information of a magnetometer and information of a barometer are fused by an integrated navigation computer, and position, speed and gesture information of a carrier is outputted via a multi-dimensional expanded Kalman filter; the system has a self-alignment function, the information of the system is guaranteed against being lost when in power failure owing to a Flash memory function, and the system can be quickly started when powered; and an integrated navigation algorithm is optimized, high data update rate can be achieved under the condition that precision is guaranteed, and real-time gesture data can be provided for high-dynamic small airplanes, guide cartridges and the like. The total super-miniature GPS, INS, magnetometer and barometer integrated navigation system has the series advantages of small size, low cost and power consumption, light weight, high data update rate, convenience in communication, easiness in installation and calibration, and the like, real-time and accurate navigation positioning information can be outputted, and the system is applicable to fields of vehicles for roads, personnel positioning, navigation for miniature airplanes and the like.
Description
technical field [0001] The invention relates to a combined navigation system based on GPS, INS, magnetometer and barometer, which adopts highly integrated circuit design and unique installation structure, and belongs to the technical field of combined navigation. Background technique [0002] The inertial sensor is a very important sensor in many sensor devices, but so far the use of traditional inertial sensors is only limited to a narrow range, such as the military, aviation and navigation fields, mainly because of the The cost and size of the sensor are hardly considered, and for many other fields, although there is a demand for inertial sensors, due to various reasons (mainly cost factors), there are few applications. However, with the rapid development of modern microelectronics and micromachining technology, a new technology facing the 21st century—microelectromechanical system (MEMS) emerged as the times require. On this basis, the emergence of micro-mechanical inert...
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IPC IPC(8): G01C21/16G01S19/49
Inventor 苏中李擎范军芳赵旭刘洪刘宁马晓飞付国栋
Owner BEIJING INFORMATION SCI & TECH UNIV