Design and realization of small integrated navigation system based on MIMU/GPS/TAM

Author

Jiang, Wei ; Guoxing Yi ; Zeng, Qingshuang ; Wang, Li

Author_Institution

Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol., Harbin

fYear

2008

fDate

10-12 Dec. 2008

Firstpage

1

Lastpage

5

Abstract

In this paper, a new scheme of small integrated navigation system based on Micro Inertial Measurement Unit (MIMU), Global Position System (GPS) and Three-Axis Magnetometer (TAM) is presented. First the choice of these sensors and the structure of system are introduced respectively. Then the navigation computer, which uses TI high-performance floating-point DSP as core processor, is designed to realize both the data collecting and the navigation calculating. According to the error models of inertial navigation system, an integrated navigation algorithm used Kalman filter is proposed to fuse the information from all of the sensors. Finally, the prototype test results are presented to show the feasibility of the system.

Keywords

Global Positioning System; Kalman filters; floating point arithmetic; magnetometers; sensor fusion; telecommunication computing; Global Positioning System; Kalman filter; TI high-performance floating-point DSP; data collection; error models; micro inertial measurement unit; navigation computer; sensor fusion; sensors; small integrated navigation system; three-axis magnetometer; Computer errors; Digital signal processing; Global Positioning System; Magnetic cores; Magnetic sensors; Magnetometers; Measurement units; Navigation; Process design; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems and Control in Aerospace and Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on

Conference_Location

Shenzhen

Print_ISBN

978-1-4244-3908-9

Electronic_ISBN

978-1-4244-2386-6

Type

conf

DOI

10.1109/ISSCAA.2008.4776293

Filename

4776293