车载低成本GNSS/SINS紧组合导航系统设计

Design of Low-Cost Tightly-Coupled GNSS/SINS Vehicle Navigation System

中文关键词:  GNSS/SINS紧组合系统  低成本  ARM  离散化算法  扩展卡尔曼滤波

英文关键词:GNSS/SINS tightly-coupled system  low cost  ARM  discretization algorithm  extended Kalman filter

中文摘要:

      针对GNSS/INS松组合导航系统在可见星数少于4颗的情况下无法正常工作的问题，设计了基于ARM的车载低成本GNSS/SINS紧组合导航系统。以AM3354为电路核心处理器，集成了惯性IMU MPU-9150和卫星接收模块NV08C-CSM。通过I2C和 UART接口完成数据采集，送入导航解算后经由SD卡和UART实现数据的保存与上传。系统算法采用离散扩展卡尔曼滤波进行紧组合的数据融合，在没有足够的卫星来计算独立GNSS参数时，也能够将卫星信号输入组合系统并辅助SINS。为验证系统可行性进行了实测跑车实验。结果表明，所设计的紧组合导航系统精度满足车载应用，较松组合算法表现出了更高的精度和稳定性。

英文摘要:

      In order to solve the problem that a loosely coupled GNSS/INS system cannot output precisely itself in the condition of fewer than four available satellites,a tightly-coupled system based on ARM AM3354 is designed with IMU MPU-9150 and satellite module NV08C-CSM integrated on the circuit board.Data were collected through I2C and UART ports,and the data would be stored and uploaded by SD card and UART after resolving.A discrete EKF filter was adopted in the system for data fusion and the GNSS outputs can assist SINS in most circumstances.In addition,a field experiment was conducted to verify the feasibility of the system.The results show that the tightly-coupled system designed is capable for car use and its stability is better than a loosely coupled system with the same facilities.