中文摘要：

针对组合导航系统中使用单天线GPS接收机时导致姿态角不易收敛的问题,提出了一种互补滤波器和卡尔曼滤波器相结合的数据融合算法;该方法首先通过MEMS惯性传感器与磁强计设计了一种互补滤波算法;针对载体在变速运动过程中加速度计的倾角测量值有较大误差,影响互补滤波器输出精度的问题,通过GPS接收机和加速度计设计了卡尔曼滤波模型,将卡尔曼滤波器输出速度的微分量反馈给互补滤波器,实现了对互补滤波器中载体运动加速度的补偿;基于以上解算方法,以FPGA为核心处理器设计了组合导航系统并进行了车载实验;实验中,该方法有效补偿了汽车变速过程中的倾角测量误差,证明了该方法的有效性.

英文摘要：

Attitude angle divergency is easily took place when the integrated navigation system is constructed with single antenna GPS receiver.In order to resolve this problem,a new kind of data fusion algorithm is developed with the combination of complementary filter and Kalman filter.Firstly,the complementary filter based on MEMS inertial sensor and magnetometer is designed to output attitude angle.However,an obvious deficiency is that the variable-speed movement of carrier would lead to measurement deviation of inclination angle.This deviation is bound to exert an impact on the calculation precision of the complementary filter.Considering this phenomenon,the Kalman filter based on GPS receiver and accelerometer is designed to output the position and velocity.Then,the differential value of velocity is fed back to complementary filter to eliminate the harmful impact resulted from variable-speed movement.Taking FPGA as processor,an integrated navigation system is constructed to implement the proposed algorithm.It indicated throughout car experiments that the algorithm presented in this article perfectly compensates the calculation error of attitude angle,and illustrating the effectiveness of this method.