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

An attitude sensor and sensor technology, applied in the navigation system and its fusion field, can solve problems such as unfavorable positioning, high cost, and unstable altitude output of the barometer

Inactive Publication Date: 2016-08-17
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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
A

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

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Embodiment Construction

[0036] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0037] The invention provides a navigation system of a position sensor and an attitude sensor, such as figure 1 As shown, it includes a CPU and attitude sensors, barometers, and GPS connected to it respectively, wherein the attitude sensor is used to measure the acceleration information of the carrier, the barometer is used to measure the height information of the carrier, and the GPS is used to measure the position of the carrier information; the CPU is used to adopt a position sensor and an attitude sensor information fusion method to fuse the acceleration information measured by the attitude sensor with the height information measured by the barometer and the position information measured by the GPS to obtain the fused ground coordinate system x , speed information and position information in the y, z axis directions.

[0038] In the present in...

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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...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 刘翎予王新华李腾
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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