MINS/BDS组合导航系统设计与实现

Design and Implementation of MINS/BDS Integrated Navigation System

摘要: 为满足军用无人探测车对低成本、轻重量导航系统需求，应用MEMS 惯性导航系统(MINS)和三天线北斗接收机(BDS)，完成MINS/BDS组合导航系统设计。组合导航计算模块基于ARM + FLASH设计完成，实现多传感器通信、姿态解算、定向定位及与上位机人机交互等功能。将计算模块、电源模块、滤波模块、MIMU及北斗数据接收模块集成到嵌入式MIMU/北斗组合导航系统中，完成的系统直径78 mm，高度60 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: 该组合导航系统输出频率为200 Hz，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: IIn order to meet the requirement of low cost and light weight navigation system for Military Un-manned detection vehicle, the design of MINS/BDS integrated navigation system is completed by using the MEMS inertial navigation system (MINS) and three-antenna Beidou receiver (BDS). The integrated navigation calculation module is designed based on ARM + FLASH, which realizes the functions of multi-sensor communication, attitude calculation, orientation and positioning, and human-computer interaction with the host computer. Computing module, power module, filter module, MIMU and Beidou data receiving module are integrated into the embedded MIMU/Beidou integrated navigation system. The completed system has a diameter of 78 mm, a height of 60 mm and a quality of no more than 600 g. The fixed-point dynamic attitude experiment of the integrated system shows that the output frequency of the integrated navigation system is 200 Hz, the fixed-point position measurement accuracy is less than 1 m, the attitude angle of the dynamic at-titude measurement accuracy is less than 0.1 degree and the heading angle is less than 0.5 degree.