基于船舶的GPS/单陀螺航向融合算法

上海大学学报(自然科学版)

基于船舶的GPS/单陀螺航向融合算法

沙晓萍，陈惠民，鲍敏祺，韩逸昕

上海大学通信与信息工程学院，上海 200072

收稿日期:2006-10-31 修回日期:1900-01-01 出版日期:2008-02-28 发布日期:2008-02-28
通讯作者: 陈惠民

A GPS/Gyro Attitude Fusion Algorithm for Marine Application

SHA Xiao-ping,CHEN Hui-min,BAO Min-qi,HAN Yi-xin

School of Communication and Information Engineering, Shanghai University, Shanghai 200072, China

Received:2006-10-31 Revised:1900-01-01 Online:2008-02-28 Published:2008-02-28
Contact: CHEN Hui-min

摘要/Abstract

摘要： 研究一种应用于船舶的GPS/单陀螺航向融合算法.首先，根据陀螺输出的角速率来估算船舶航向角信息；然后，采用改进的卡尔曼滤波的GPS/单陀螺融合算法，估算出陀螺的航向角估计误差和陀螺的漂移；最后，得出船舶航向角的准确信息.试验结果表明，该融合算法使得航向角实际应用误差控制在±1°之内，其输出值相当平滑，是一种有效的航向角确定算法.

关键词: GPS/单陀螺, 航向角, 卡尔曼滤波

Abstract: This paper introduces a GPS/single gyro yaw value fusion algorithm for marine application. It first introduces the Runge-Kutta method to estimate the yaw value according to the angular velocity output of gyro. When the GPS signal is output, Kalman filtering is used to estimate yaw value error and bias of gyro to give the accurate value. Simulation results indicate that, by using the fusion algorithm, the final yaw value error is within ±1°. The output is very smooth, indicating that the algorithm is sound and effective.

Key words: Kalman filtering, yaw, GPS/single gyro

中图分类号:

TN91

沙晓萍;陈惠民;鲍敏祺;韩逸昕. 基于船舶的GPS/单陀螺航向融合算法[J]. 上海大学学报(自然科学版).

SHA Xiao-ping;CHEN Hui-min;BAO Min-qi;HAN Yi-xin. A GPS/Gyro Attitude Fusion Algorithm for Marine Application[J]. Journal of Shanghai University（Natural Science Edition）.

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