The Effects of Using Heading Measurement during Alignment of a Low-cost IMU/GPS system

被引：0

作者：

Choi, Moonseok ^{[1
]}

Won, Daehee ^{[2
]}

Sung, Sangkyoung ^{[1
]}

Lee, Jiyun ^{[3
]}

Kim, Jeongrae ^{[4
]}

Park, Jun-Pyo ^{[5
]}

Park, Heung-Won ^{[5
]}

Lee, Young Jae ^{[1
]}

机构：

[1] Konkuk Univ, Seoul, South Korea

[2] Univ Colorado, Boulder, CO 80309 USA

[3] Korea Adv Inst Sci & Technol, Seoul, South Korea

[4] Koera Aerosp Univ, Seoul, South Korea

[5] Agcy Def Dev, Washington, DC USA

来源：

PROCEEDINGS OF THE 26TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2013) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Due to the development of MEMS, SDINS (Strapdown Inertial Navigation System) is applied in many fields by using low-grade MEMS IMU. However, low-grade MEMS IMU has a big initial error and low long-term stability. Therefore, a system combines external sensors like GPS, which provides stable navigation results have been developed rather than a system operated in single. Due to the development of techniques in GPS receiver, low-grade GPS does not only provide the velocity and position but also the exact azimuth calculated by velocity vectors. In combination of low-grade IMU and GPS, it is important to estimate the initial attitude of IMU, and it is possible to upgrade the steps of matrix if only we can obtain additional values. This paper presents a method for improving the performance of the yaw axis in the initial attitude estimation by implementing a low-cost IMU in the alignment process. The results showed that alignment was selected using a magnetic sensor and GPS heading measurements, depending on the speed of the vehicle.

引用

页码：2175 / 2179

页数：5

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