Miniaturization design of MIMU/GPS integrated navigation system

BAO Chao; GUO Mei-feng; ZHOU Bin; LIU Gang

doi:10.13873/j.1000-97872014.01.006

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Miniaturization design of MIMU/GPS integrated navigation system

更新时间：2025-09-11

- Miniaturization design of MIMU/GPS integrated navigation system
- Vol. 33, Issue 1, Pages: 116-119(2014)
- 作者机构：
  
  清华大学精密仪器系
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872014.01.006
  CLC： V249.328
- Published：2014
- 稿件说明：
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[1]包超,郭美凤,周斌,刘刚.MIMU/GPS组合导航系统小型化设计[J].传感器与微系统,2014,33(01):116-119.

BAO Chao, GUO Mei-feng, ZHOU Bin, et al. Miniaturization design of MIMU/GPS integrated navigation system[J]. 2014, 33(1): 116-119.
[1]包超,郭美凤,周斌,刘刚.MIMU/GPS组合导航系统小型化设计[J].传感器与微系统,2014,33(01):116-119. DOI： 10.13873/j.1000-97872014.01.006.

BAO Chao, GUO Mei-feng, ZHOU Bin, et al. Miniaturization design of MIMU/GPS integrated navigation system[J]. 2014, 33(1): 116-119. DOI： 10.13873/j.1000-97872014.01.006.

摘要

为满足小型无人机、手持制导设备及无人探测车等对低成本轻重量导航系统需求

应用MEMS惯性测量单元和GPS接收机模块

完成MIMU/GPS组合导航系统小型化设计。组合导航计算模块基于DSP+FPGA+FLASH设计完成

实现多传感器通信、串并行数据转换及与上位机人机交互等功能。将计算模块、电源模块、MIMU及GPS接收机集成到嵌入式MIMU/GPS组合导航系统中

完成的系统直径80 mm

高度80 mm

质量不超过600 g。对集成后系统进行定点动姿态实验

结果表明:该组合导航系统定点位置测量精度在1 m以内

动姿态测量精度姿态角在0.1°以内

航向角在0.5°以内。

Abstract

In order to meet the needs of low cost and light weight navigation system for small UAV

handheld guidance equipment and unmanned vehicle

using MIMU and GPS receiver module

MIMU / GPS integrated navigation system miniaturization design is completed. Computing module of MIMU / GPS integrated navigation system is designed based on DSP + FPGA + FLASH. Realize functions of multiplex sensor communication

serial data to parallel data conversion and man-machine interaction with upper-PC. Embedded integrated navigation system is integrated with computation module

power module MIMU and GPS receiver

the diameter of system is 80 mm and the height is 80 mm. Static fixed-point test、fixed-point dynamic posture test and dynamic car test show that static position accuracy is in 1 m

attitude angle accuracy is in 0. 1°

heading angle accuracy is in 0. 5°.

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Keywords

references

低成本IMU/GPS组合导航系统设计 [J]. 李昂,王伟,吴佳楠. 测控技术 . 2012(08)

GPS/MEMS-INS组合导航系统设计 [J]. 秦红磊,张亚珍,丛丽,邢菊红. 计算机工程与设计 . 2011(11)

基于高性能DSP的小型组合导航系统设计与实现 [J]. 曾庆双,蒋蔚,伊国兴. 哈尔滨商业大学学报(自然科学版) . 2010(04)

光学陀螺系统与关键器件[M]. 中国宇航出版社 , 章燕申, 2010

惯性导航[M]. 科学出版社 , 秦永元编著, 2006

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