A Vision Aided MEMS-SINS/GPS Ultra-tight Coupled Navigation System Suitable for High Dynamic and Strong Interference  Environment

doi:10.3969/j.issn.1000-1093.2019.11.008

Abstract

Abstract: MEMS-SINS/GPS ultra-tight integrated navigation system has poor anti-jamming ability in high dynamic and harsh GPS environment. A vision aided MEMS-SINS/GPS ultra-tight coupled navigation system suitable for high dynamic and strong interference environment is proposed. The observability of the platform's misalignment angle is improved by introducing the attitude information provided by binocular vision into the MEMS-SINS/GPS ultra-tight coupled navigation system. The state equation and measurement equation of the system are derived, and a fuzzy control method is proposed to integrate the navigation results of two sub-filters. The feasibility of the system scheme design is verified through digital simulation. When the GPS signal results in decreased tracking precision under strong noise and multipath interference, the vision aided MEMS-SINS/GPS ultra-tight coupled navigation system can effectively reduce the navigation error. The system position and velocity errors can be kept within 5.0 m and 0.5 m/s, respectively, which effectively solves the navigation problem of low altitude aircrafts when the GPS signal is occluded or disturbed. Key

Key words: integratednavigationsystem, strapdowninertialnavigationsystem, globalpositionsystem, micro-electro-mechanicalsystem, highdynamic, stronginterference, visionaiding

CLC Number:

TJ765.2⁺2

LI Qunsheng， ZHAO Yan， WANG Jinda. A Vision Aided MEMS-SINS/GPS Ultra-tight Coupled Navigation System Suitable for High Dynamic and Strong Interference Environment[J]. Acta Armamentarii, 2019, 40(11): 2241-2249.

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第40卷
第11期2019 年11月兵工学报ACTA
ARMAMENTARIIVol.40No.11Nov.2019

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A Vision Aided MEMS-SINS/GPS Ultra-tight Coupled Navigation System Suitable for High Dynamic and Strong Interference Environment

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