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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20040524-26; Saint Petersburg(RU) >TEST RESULTS OF A GPS/INERTIAL NAVIGATION SYSTEM USING A LOW COST MEMS IMU
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TEST RESULTS OF A GPS/INERTIAL NAVIGATION SYSTEM USING A LOW COST MEMS IMU

机译：使用低成本MEMS IMU的GPS /惯性导航系统的测试结果

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摘要

This paper describes the design, operation, and test results of a miniature, low cost integrated GPS/inertial navigation system that uses commercial off-the-shelf Micro-Electro-Mechanical System (MEMS) accelerometers and gyroscopes. The MEMS inertial measurement unit (IMU) is packaged in a small size and provides the raw IMU data through a serial interface to a processor board where the inertial navigation solution and integrated GPS/inertial Kalman filter is generated. The GPS/inertial software integration is performed using NAVSYS' modular InterNav software product. This allows integration with different low cost GPS chip sets or receivers and also allows the integrated GPS/inertial navigation solution to be embedded as an application on a customer's host computer. This modular, object oriented architecture facilitates integration of the miniature MEMS GPS/INS navigation system for embedded navigation applications and is designed to handle the large errors characteristic of a low grade MEMS IMU. Test results are presented in this paper showing the performance of the integrated MEMS GPS/inertial navigation system. Data is provided showing the position, velocity and attitude accuracy when operating with GPS aiding and also for periods where GPS dropouts occur and alternative navigation update sources are used to bound the MEMS inertial navigation error growth.
机译：本文描述了一种微型，低成本，集成的GPS /惯性导航系统的设计，操作和测试结果，该系统使用了商用的现成的微机电系统（MEMS）加速度计和陀螺仪。 MEMS惯性测量单元（IMU）以小尺寸封装，并通过串行接口将原始IMU数据提供给处理器板，在该板上生成惯性导航解决方案和集成的GPS /惯性卡尔曼滤波器。 GPS /惯性软件集成是使用NAVSYS的模块化InterNav软件产品进行的。这允许与不同的低成本GPS芯片组或接收器集成，并且还允许将集成的GPS /惯性导航解决方案作为应用程序嵌入到客户的主机上。这种模块化的，面向对象的体系结构有助于为嵌入式导航应用集成微型MEMS GPS / INS导航系统，并旨在处理低等级MEMS IMU的大误差特性。本文介绍的测试结果显示了集成MEMS GPS /惯性导航系统的性能。提供的数据显示了在GPS辅助下操作时以及在GPS丢失发生的时段内的位置，速度和姿态精度，并且使用替代导航更新源来限制MEMS惯性导航误差的增长。

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