基于光纤陀螺的DGPS_DR组合导航定位系统的设计与实现.pdfVIP

. 2010 . 18( 6) 1394 Computer Measurement Control : 2010) : V249 : A DGPS/ DR 1 1 1 2 3 魏 鹏 , 张志强 , 张春熹 , 厉秉强, 杜 强 ( 1 , 100191; 2 , 250002; 3 , 261041) : , GPS FPGA/ DSP , GPS ( D ) , , , : ; ; ; FPGA/ DSP; Design and Realization of DGPS/ DR Integrated Navigation and Positioning System Based on Fi er Optic- gyro 1 1 1 2 3 Wei Peng , Zhang Zhiqiang , Zhang Chunxi , Li Bingqiang , Du Qiang 1School of Instrument Science and Opto- electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China; 2 obot Lab of the State Grid Corporation of China, Jinan 250002, China; 3Weifang Department of the Shandong Electric Power Corporation, Weifang 231041, China) A stract: T he navigation and positioning system is the key technology for the robot in the transformer substation to inspect the equip ment. Therefore, the paper made up the hardware system, which consists of the fiber optic- gyro ( FOG)milemeteraccelerometer DGPS receiver and the navigation computer based on FPGA/ DSP. Also, thesoftware of this integrated navigation and orientation system was designed based on the differential GPS ( DGPS) and Dead eckoning ( D ) principle, the system adopts the method of the self- north- seeker and switching- integrated navigation. T he method is simple and easily feasible, meanwhile, the system has good practicability. The experiment indicates that this system provides to the robot of inspecting the equipment in the transformer substation with continuous, real- time, accura