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首页> 外文会议>Proceedings of the 22nd international technical meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2009) >Performance Investigation of Real-time MEMS-IMU/GNSS Integrated System
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Performance Investigation of Real-time MEMS-IMU/GNSS Integrated System

机译：实时MEMS-IMU / GNSS集成系统的性能研究

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The rapid development of Micro-Electric-Mechanical- System(MEMS)technology enables the emerging of new inertial sensors,which are compact,cost-effective and yield improved performance.Meanwhile,the processing ability of the Digital Signal Processor(DSP)is increasingly upgraded to cater for the computational demanding applications. rnA real-time INS/GNSS integrated system based on a DSP platform is developed in this paper with these modern features.This prototype uses one commercial GPS receiver and one MEMS-based Inertial Measurement Unit (IMU)in consideration of the system cost and compactness.The INS/GPS integration is accomplished on a floating-point DSP.This system design features an improved data synchronization scheme by utilizing the hardware features of both sensors.Moreover,the powerful floating-point DSP enhances the execution of the integration by its efficient data transfer mechanism and strong processing capability.A loosely-coupled INS/GPS integration is currently implemented based on an error state model using a conventional Kalman Filer (KF).The strapdown INS uses raw accelerometer measurements and the Euler angles from the IMU to calculate the final navigation solution(position and velocity). rnThis paper describes the hardware structure of the proposed system and explains the improved data synchronization scheme.The system software design is presented as well.
机译：微机电系统（MEMS）技术的飞速发展使得新型惯性传感器的出现成为可能，这些惯性传感器结构紧凑，具有成本效益并提高了性能。同时，数字信号处理器（DSP）的处理能力也日益提高进行了升级，以满足计算要求很高的应用程序。 rn本文开发了具有这些现代功能的基于DSP平台的实时INS / GNSS集成系统。考虑到系统成本和紧凑性，该原型使用一个商用GPS接收机和一个基于MEMS的惯性测量单元（IMU） INS / GPS集成是在浮点DSP上完成的。该系统设计通过利用两个传感器的硬件功能改进了数据同步方案。此外，强大的浮点DSP通过其高效的功能增强了集成的执行能力。数据传输机制和强大的处理能力。目前基于误差状态模型使用传统的Kalman Filer（KF）实现松耦合的INS / GPS集成。捷联式INS使用原始加速度计测量值和IMU的欧拉角进行计算最终的导航解决方案（位置和速度）。本文描述了所提出系统的硬件结构，并解释了改进的数据同步方案。还介绍了系统软件设计。

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