The Research of Navigation Multi-Sensor Data Fusion Technology Based on Micro Unmanned Platform
|School||Harbin Institute of Technology|
|Course||Instrument Science and Technology|
|Keywords||integrated navigation GPS kalman filtering multi-sensor data fusion|
With the rapid development of Micro Electromechanical System (MEMS), the Micro Inertial Measurement Unit (MIMU) has gradually showed its excellent performance, and the integrated navigation system consisting of MIMU and Global Positioning System (GPS) has become the research focus. Based on the analysis of the development and application of MIMU, the modeling of the miniature integrated navigation system has been analyzed and studied in this dissertation. The main works concentrate on the following aspects:This thesis deals with the design, analysis, and the simulation of navigation system of Micro Unmanned Platform. Integrated navigation systems is combined with GPS and MIMU. The hardware configuration and the combining principle of multi-sensor integrated navigation system is introduced in the thesis. The principle of multi-sensor data fusion is described. The operating principle and the characteristic of inertial navigation system and GPS are expatiated. and the various error sources influencing the accuracy of MIMU and GPS are analyzed. The error models for MIMU and GPS are established. A flight path is simulated. The simulation of the integrated system is implemented with measured data in which white noise is adde. The data and curves in simulation and the filtered data are compared with observed data.The integrated system adopts a closed loop feedback correction method,which can feedback MIMU with the best estimation for the errors of position,velocity and digital platform caused by MIMU and errors brought by inertial devices,to restrain the divergence of kalman filter.The simulation analysis to GPS/MIMU is performed with the help of MATLAB. The result shows:(a) the accuracy of MIMU is 1imited by the error of micro inertial devices and the errors diverge quickly, thus MIMU can not be used as an unaided navigation system.(b) MIMU/GPS integrated system with kalman filter can restrain the divergence and improve the long-term navigation accuracy by feedback.