惯性传感器误差对GNSS/INS组合导航性能的影响

2016 Eighth International Conference on Measuring Technology and Mechatronics Automation (ICMTMA) Pub Date : 2016-03-11 DOI:10.1109/ICMTMA.2016.90

Fang Hui, F. Qin

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引用次数: 4

摘要

在GNSS/INS组合导航系统中，惯性传感器的选择是影响系统性能的一个重要因素。遗憾的是，目前对惯性传感器误差与导航性能之间关系的研究还不够充分。在这种情况下，首先基于6自由度模型详细推导了传感器质量与惯导系统性能之间的数学关系。由于惯性导航系统是GNSS/INS系统的一部分，因此进一步分析了传感器误差对总性能的影响。通过对三种不同等级的惯性测量单元(imu)的综合系统进行仿真，验证了其影响机理。

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Influence of Inertial Sensor Errors on GNSS/INS Integrated Navigation Performance

In GNSS/INS navigation integrated systems, the selection of inertial sensors is a factor which can impact their system performances implicitly. Unfortunately, the research of the relationship between the inertial sensor errors and the navigation performances is not sufficient yet. In this case, the mathematical relationship between the sensor quality and the INS (Inertial Navigation System) performance is firstly derived in details based on a 6 DOF (Degree of Freedom) model. Since the INS is a part of the GNSS/INS system, the influence of the sensor errors on the total performance is further analyzed. By simulating an integrated system using three different grade IMUs (Inertial Measurement Units), the influence mechanism is proved.

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2016 Eighth International Conference on Measuring Technology and Mechatronics Automation (ICMTMA)

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