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中文摘要: 为实现满足中低精度要求的低成本导航系统，选用MEMS惯性传感器研制了捷联式惯性导航系统(SINS)；针对MEMS惯性传感器噪声较大和惯性导航系统误差随时间迅速累积的问题，利用小波对MEMS陀螺信号进行了降噪处理，并采用SINS-GPS卡尔曼滤波组合导航系统以消除惯导系统的误差累积，输出较高精度的速度、位置信息。对SINS和组合导航系统进行了仿真实验，实验结果表明所建系统的长时间导航性能有一定改善。
Abstract:In order to implement low cost navigation system which meets the needs of medium and low accuracy, developed MEMS strapdown inertial navigation system (SINS);Considering MEMS inertial sensors contain a large number of noise and SINS error accumulated rapidly over time, used wavelet to reduce MEMS gyro signal noise and built SINS/GPS integrated navigation system based on Kalman filter to eliminate error accumulation and to improve the navigation precision. The SINS and integrated navigation system simulation experiment were conducted, the experimental results show that the built system long time navigation Performance is improved.
keywords: inertial navigation system (INS) integrated navigation Kalman filter global position system (GPS)
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