Mecanização de central de navegação inercial com dados a partir da integração de IMU MEMS e receptor GPS / Inertial navigation mechanization through the intergration of an IMU MEMS and a GPS receiver.

AUTOR(ES)
DATA DE PUBLICAÇÃO

2009

RESUMO

The proposal of this work is to present a procedure for integration of the acceleration and angular rate measurements of a low cost Inertial Measurement Unit (IMU) based on MEMS (Micro Electro-Mechanical System) technology with position and speed data from a GPS receiver. Then, it details the equations that have been used to integrate the movement and the attitude of a system in strapdown configuration, the alignment procedures of a IMU MEMS in a precision 3 axis servo table for the analysis of the static and semi-dynamic conditions, the way to obtain the IMU calibration through appropriate algorithm using the method of the Sigma-Point Kalman filter, verifying its performance and comparing results. After it also describes the results using the IMU and GPS simultaneously in dynamic conditions. A Sigma-Point Kalman Filter algorithm was developed for navigation application in order to execute the fusion of the GPS position and speed information with the coordinates calculated from the IMU.

ASSUNTO(S)

filtro de kalman sigma-ponto (fksp) global positioning system (gps) central de navegação inercial (cni) unidade de medida inercial (umi) inertial navigation system (ins) micro electro-mechanical system (mems) micro electro-mechanical system (mems) unscented kalman filter (ukf) global positionig system (gps) inertial measurement unit (umi)

ACESSO AO ARTIGO

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