TY - JOUR
T1 - 阵列式多MEMS-IMU协同导航系统与算法
AU - Shen, Kai
AU - Zuo, Jianwen
AU - Zuo, Siqi
AU - Li, Yuelun
AU - Liu, Yaxuan
AU - Guo, Wenjun
N1 - Publisher Copyright:
© 2021, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
PY - 2021/10
Y1 - 2021/10
N2 - In challenged or even denied environments of global navigation satellite system (GNSS), the autonomous navigation and positioning of unmanned vehicles are usually realized by inertial navigation. As a low-cost way of inertial navigation, MEMS-IMU has poor accuracy and reliability for long-time operation. In order to solve this problem, an array multi-MEMS-IMU cooperative navigation system and the corresponding algorithm are designed. Based on MEMS-IMU, rotation modulation and cooperative navigation technologies, a dual MEMS-IMU cooperative navigation scheme based on rotation modulation technology is analyzed, and an array of four MEMS-IMU cooperative navigation system for autonomous unmanned vehicles is designed for achieving high-precision position, velocity and attitude without GNSS signals. Simulation results based on real MEMS-IMU noise data show that, the attitude, azimuth and horizontal positioning accuracy of the array four-MEMS-IMU cooperative navigation scheme is more than 60% higher than that of the non-MEMS-IMU rotating system, and the whole performance of MEMS inertial navigation is significantly improved.
AB - In challenged or even denied environments of global navigation satellite system (GNSS), the autonomous navigation and positioning of unmanned vehicles are usually realized by inertial navigation. As a low-cost way of inertial navigation, MEMS-IMU has poor accuracy and reliability for long-time operation. In order to solve this problem, an array multi-MEMS-IMU cooperative navigation system and the corresponding algorithm are designed. Based on MEMS-IMU, rotation modulation and cooperative navigation technologies, a dual MEMS-IMU cooperative navigation scheme based on rotation modulation technology is analyzed, and an array of four MEMS-IMU cooperative navigation system for autonomous unmanned vehicles is designed for achieving high-precision position, velocity and attitude without GNSS signals. Simulation results based on real MEMS-IMU noise data show that, the attitude, azimuth and horizontal positioning accuracy of the array four-MEMS-IMU cooperative navigation scheme is more than 60% higher than that of the non-MEMS-IMU rotating system, and the whole performance of MEMS inertial navigation is significantly improved.
KW - Autonomous unmanned system
KW - Cooperative navigation
KW - Inertial navigation
KW - MEMS-IMU
KW - Rotation modulation
UR - http://www.scopus.com/inward/record.url?scp=85123053338&partnerID=8YFLogxK
U2 - 10.13695/j.cnki.12-1222/o3.2021.05.002
DO - 10.13695/j.cnki.12-1222/o3.2021.05.002
M3 - 文章
AN - SCOPUS:85123053338
SN - 1005-6734
VL - 29
SP - 569
EP - 575
JO - Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology
JF - Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology
IS - 5
ER -