Research on MIMU/BD Integrated Navigation with Three-Axis Magnetometer Aided

来源 :2014中国制导、导航与控制学术会议 | 被引量 : 0次 | 上传用户:rocket830214
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
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 MIMUs error accumulation and BDs 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 earths 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.
其他文献
Landing an asteroid safely is an important link in the deep space exploration.A kind of soft landing guidance control law about terminal angular constraint is d
会议
Honoree(受奖者)Jackie Chan poses with his award during the Academy of Motion Picture Arts and Sciences’8th Annual Governors Awards(第八届美国电影艺术与科学学院
随着微电子技术和计算机技术日新月异的发展,数字技术在各个领域得到广泛应用,在此基础上网络技术孕育而生。网络的出现使我们进入了全球一体化 With the rapid development
本文介绍了鲅鱼圈港防波堤断面模型试验情况,试验中对原设计方案的四个断面进行了认真研究并提出了修改意见。试验中进一步验证了斜坡堤的越浪经验公式,对传统的胸墙放置方式
The requirement and characteristic in Computer Generated Forces behavior modeling were analyzed.From the design concept of American OneSAF system,a method for b
会议
耐重茬甜瓜──铁甜金脆吴起运铁甜金脆是吉林省长春市一间堡蜜世界甜瓜所育成的一个高抗枯萎病.耐重茬栽培的特早熟甜瓜新品种,在吉林、辽宁、黑龙江、河北、河南、山东、山西
针对粒子滤波重采样过程中出现的粒子多样性退化问题,结合遗传算法中选择算子、交叉算子和变异算子的特点,本文提出了一种基于改进遗传算法重采样的粒子滤波算法.在改进的遗
会议
在水下航行体的测试中 ,通常采用被动定位方式获得航行体的运动轨迹 .被动定位一般利用空间关系已知的 3个或 3个以上的水听器来接收目标的辐射噪声 ,由时延估计器求得这些噪
Because of their potential important role in tasks of 3D space which ground vehicles cannot perform,autonomous flight and exploration of micro aerial vehicle(MA
会议
住宅建设与汽车的可持续发展西南交通大学建筑系耿化民1引言汽车工业是国民经济支柱产业,它标志着一个国家整体工业科学技术的发展水平,体现一个国家综合实力的强盛程度。汽车工