基于GPS/MEMS惯性传感器的车载组合惯导系统的设计实现

The Design and Implementation of a Vehicle Mounted Inertial Navigation System Based on GPS/MEMS Inertial Sensor

摘要: 本文采用Cortex-M4嵌入式处理器、GPS/北斗双模定位模块以及9轴MEMS传感器设计了一种可应用于车辆定位和姿态检测的低成本、微型化组合惯性导航装置。装置采用Cortex-M4处理器对GPS/北斗双模定位模块以及MEMS惯性传感器采集到的数据进行解算，解算后的数据通过UART和CAN总线发送到显示终端或者其它后端设备。实验结果表明该装置能够满足车辆定位与姿态检测的稳定性和实时性要求，具有良好的应用前景。

Abstract: A low-cost, miniaturized combined inertial navigation system for vehicle positioning and attitude detection is designed in the paper using Cortex-M4 embedded processor, GPS/Beidou dual-mode positioning module and 9-axis MEMS sensor. The calculated data are sent to the display terminal or other back-end equipment through UART and CAN bus. Experimental results show that the device can meet the stability and real-time requirements of vehicle position and attitude detection, and has good application prospects.