文中实现了一套以ARM为核心的小型化MEMSSINS/GNSS组合导航系统。MEMS陀螺、加速度计的模拟量输出经过AD采样,输入ARM微处理器进行惯性导航解算。GNSS芯片提供系统的速度和位置,与惯导解算的结果进行松组合,修正姿态角。由于航向角可观测性较差,采用了序贯卡尔曼滤波方式进一步修正航向角。经过跑车实验,与高精度惯性导航系统比较,俯仰角、横滚角误差小于0.5°,航向角误差小于0.9°。文中提供了一种低精度IMU参与组合导航的解决方案。

This paper designed a small MEMS SINS/GNSS navigation system based on ARM processor. The analog output of MEMS gyro/ accelerometer was sampling by AD chip and delivered to ARM processor. GNSS chip provided speed and position information of the system. SINS/GNSS loose couple Kalman filter was achieved and the attitude angle was corrected. A sequential Kalman filter method was used to further correct azimuth angle which suffer from poor observability. After dynamic ground experiment, compared with relative high precision SINS, roll and pitch error were less than 0.5 degree, azimuth error was less than 0.9 degree The combined navigation system achieved in this work enables the use of less accurate IMU.