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Research on MIMU/BD integrated navigation with three-axis magnetometer aided

机译：三轴磁力计辅助MIMU / BD集成导航研究

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摘要

Integration is a current trend in navigation system research. MIMU (Micro Inertial Measurement Unit) is compact, cheap, low-power, and highly reliable. BD (BeiDou System) is a satellite navigation system with our own independent intellectual property right. Integrating MIMU with BD can lessen MIMU's error accumulation and BD's low robustness, thus making MIMU/BD an ideal integrated navigation system. However, MIMU/BD has poor heading error observability. A three-axis magnetometer (TAM) can measure earth's magnetic field to obtain carrier heading. This paper focuses on improving heading accuracy of MIMU/BD integrated navigation system with TAM aided. TAMs are used to calculate the heading angle. Calibrating TAMs using a RLS algorithm with a forgetting factor is introduced. An integrated navigation algorithm based on Kalman Filter is used. Vehicle experiments show that this method efficiently improves the heading accuracy.
机译：集成是导航系统研究的当前趋势。 MIMU（微型惯性测量单元）紧凑，便宜，低功耗，高度可靠。 BD（北欧系统）是一家卫星导航系统，拥有自己独立的知识产权。 将MIMU与BD集成可以减少MIMU的误差累积和BD的低稳健性，从而使MIMU / BD成为理想的集成导航系统。 然而，MIMU / BD具有较差的标题误差可观察性。 三轴磁力计（TAM）可以测量地球的磁场以获得载体标题。 本文侧重于提高MIMU / BD集成导航系统的标题精度，ADED。 TAMS用于计算标题角度。 介绍了使用RLS算法校准TAMS，具有遗忘因子的算法。 使用基于Kalman滤波器的集成导航算法。 车辆实验表明，该方法有效地提高了标题精度。

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