为解决GPS/MEMS惯性组合导航系统在GPS长时间失效时导航精度下降这一问题，论文在组合导航的基础上，采用了零速修正，并结合磁传感器提供的航向角信息，然后使用卡尔曼滤波在静止期间估计姿态角、速度及位置误差，并以反馈校正的方式进行修正，以提高导航精度。最后通过两组半物理仿真试验验证了导航算法的有效性和可行性。
论文根据人体行走时脚步周期性运动的加速度统计特性与角速率幅值，设计了一种幅值/滑动方差检测方法，用以检测步态相位中的站定位（即静止时间段）。此外，采用磁传感器信号提高航向角精度，并将GPS信号与惯性测量单元信号差值作为卡尔曼滤波的量测值，据此递推状态估值，并进行反馈校正。6606
关键字 个人导航系统 零速修正 GPS/MEMS惯性组合导航
毕业设计说明书（论文）外文摘要
Title A Personal Navigation System Based On MEMS IMU/GPS Information Fusion Technology
Abstract
In order to solve the problem that the accuracy of GPS/MEMS integrated navigation decreases in the absence of GPS, this article ,on the basis of the integrated navigation ,uses the zero-speed correction ,combined with the magnetic sensors to provide heading information .And then estimate the error of attitude angle ,velocity and position through the Kalman filter in the stationary .In addition ,a feedback correction is used to modify ,in order to improve the navigation accuracy .Finally ,two sets of semi-physical simulation tests verify the effectiveness and feasibility of the navigation algorithm.
Based on the statistical characteristics of the acceleration and the magnitude of the angular rate in the human walking pace of cyclical movement ,this article designs an amplitude/slide variance detection for the detection of the station location in the gait phases .Furthermore ,the magnetic sensor signal is used to improve the accuracy of heading angle ,and the difference between GPS signals and inertial measurement unit signal is used as the measure value of the Kalman filter ,whereby recur the state valuation and carry on the feedback correction.
Keywords Personal Navigation System Zero-speed correction
GPS/MEMS integrated navigation
目录
1. 绪论 1
1.1. 个人导航系统的概述 1
1.2. 个人导航的国内外研究现状 2
1.2.1. 国内外研究现状 2
1.2.2. 个人导航的关键问题 3
1.2.3. 论文研究的意义 4
1.3. 本论文研究内容 4
2. 基于GPS/MEMS惯性及地磁的个人导航系统 6
2.1. 捷联惯性导航的基本原理 6
2.1.1. 捷联惯性导航的初始对准 7
2.1.2. 捷联解算中的姿态解算 9
2.1.3. 捷联解算中的地理速度及位置解算 13
2.2. GPS/MEMS惯性组合导航的基本原理 16
2.2.1. 组合导航数学模型——状态方程 16
2.2.2. 组合导航数学模型——量测方程 19
2.2.3. 卡尔曼滤波基本理论与应用 20 MEMS惯性GPS信息融合技术的个人导航定位方法:http://www.751com.cn/tongxin/lunwen_4213.html