Abstract:

Aiming at urgent requirement of a low cost, high performance, high reliability navigation system, a micro-electro-mechanical system (MEMS)/global positioning system (GPS)/ geomagnetic integrated navigation system based on the complementary filter is proposed and designed. The accuracy of the MEMS gyroscope and the accelerometer is improved by the high precision calibration method. The output position,velocity and attitude obtained with the MEMS inertial navigation system are fused with outputs of GPS and the geomagnetic based on the complementary filter, and the integrated navigation system is then obtained. According to the motion state of the carrier, the adaptive adjustment of cutoff frequency complementary filter data fusion method is designed, realized the integrated navigation system which can provide attitude and position of the carrier. Static and dynamic experimental results show that high precision navigation results are obtained with the integrated navigation system.