CAJ | 학술논문

针对GPS／SINS组合导航系统在GPS间歇性失效环境下导航精度迅速下降的问题，设计了一种低成本的多传感器组合导航系统。该系统由陀螺仪、加速度计、气压计、磁力计和GPS组成，通过卡尔曼滤波器进行信息融合来实现精确的导航定位。针对GPS间歇性失效环境，利用气压计和磁力计的测量信息来辅助SINS进行导航。采用内置MEMS多传感器的智能产品对设计的系统进行了实验验证。实验结果表明，该系统可以在GPS间歇性失效的环境下实现精确的导航定位。
침대GPS／SINS조합도항계통재GPS간헐성실효배경하도항정도신속하강적문제，설계료일충저성본적다전감기조합도항계통。해계통유타라의、가속도계、기압계、자력계화GPS조성，통과잡이만려파기진행신식융합래실현정학적도항정위。침대GPS간헐성실효배경，이용기압계화자력계적측량신식래보조SINS진행도항。채용내치MEMS다전감기적지능산품대설계적계통진행료실험험증。실험결과표명，해계통가이재GPS간헐성실효적배경하실현정학적도항정위。
For the problem that the navigation precision of GPS/SINS integrated navigation declines rapidly under intermittent GPS-denied environment, a low-cost multi-sensor integrated navigation system is designed.The system consists of gyroscope, accelerometer, barometer, magnetometer and GPS, and a-chieves the purpose of accurate navigation and positioning by using Kalman filter for information fusion. For the intermittent GPS-denied environments, the system uses the measurement information of barometer and magnetometer to assist SINS’ s navigation.This system is verified by using smart product with built-in MEMS multiple sensors.The experimental results show that the integrated navigation system can realize precise navigation and positioning under intermittent GPS-denied environment.