文章基本信息

标题：Integrated navigation system and experiment of a low-cost and low-accuracy SINS/GPS
本地全文：下载
作者：Xueyuan Lin ; Jin Xu ; Min Zhou 等
期刊名称：Geo-spatial Information Science
印刷版ISSN：1009-5020
电子版ISSN：1993-5153
出版年度：2007
卷号：10
期号：3
页码：177-180
DOI：10.1007/s11806-007-0080-6
出版社：Taylor and Francis Ltd
摘要：When SINS (strap-down inertial navigation system) is combined with GPS, the observability of the course angle is weak. Although the course angle error is improved to some extent through Kalman filtering, the course angle still assumes a divergent trend. This trend is aggravated further when using low-cost and low-accuracy SINS. In order to restrain this trend, a method that uses AHRS to substitute for SINS course angle information is put forward aimed at the hardware component characteristic of the low-cost and low-accuracy SINS including AHRS (attitude and heading reference system) and IMU (inertial measurement unit). Real static and dynamic experiments show that the method can restrain the divergent trend of the navigation system angle effectively, and the positioning accuracy is high.
关键词：low-cost and low-accuracy SINS; AHRS; closed-loop Kalman filter; on-line adjustment