Navigation system of position sensor and attitude sensor and fusion method of system

Abstract

The invention discloses a navigation system of a position sensor and an attitude sensor and a fusion method of the system. The method comprises the steps that complementary filtering is combined with Kalman filtering to be called complementary Kalman filtering for short, position and speed information measured by a GPS and barometer subjected to low-pass filtering and position and speed information obtained through acceleration estimation after high-pass filtering is conducted serve as input of a Kalman filter, a weight value of the complementary filtering is automatically adjusted through the Kalman filtering, the problem that the weight value of the complementary filtering is adjusted manually is effectively solved, GPS position information and acceleration information of the attitude sensor are fused to output transverse position and speed information, and barometer height information and z-axis acceleration output by the attitude sensor are fused to output z-axis position and speed information. The fused output position and speed information is more accurate compared with position information output by an ordinary GPS and barometer before fusion is conducted, and more accurate speed information can be provided.

Description

technical field [0001] The invention relates to a navigation system of a position sensor and an attitude sensor and a fusion method thereof, belonging to the technical field of navigation positioning and control. Background technique [0002] A system that uses GPS positioning satellites to perform real-time positioning and navigation around the world is called the global satellite positioning system, or GPS for short. The attitude sensor is a navigation parameter calculation system with gyroscopes and accelerometers as sensitive devices. The system establishes a navigation coordinate system based on the output of the gyroscope, and outputs the acceleration and Euler angle of the vehicle in the navigation coordinate system. The barometer is made according to the experimental principle of Torricelli. It is an instrument for measuring atmospheric pressure, and then calculates the altitude through the calculation of atmospheric pressure and temperature, and outputs the z-axis a...

AI Technical Summary

Problems solved by technology

[0003] At present, GPS can provide navigation information, but due to the high price of high-precision GPS, the cost is too high

And the altitude output of the barometer is unstable, and the readings fluctuate within 20cm, which is not conducive to positioning

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