Design and realization of small integrated navigation system based on MIMU/GPS/TAM

In this paper, a new scheme of small integrated navigation system based on Micro Inertial Measurement Unit (MIMU), Global Position System (GPS) and Three-Axis Magnetometer (TAM) is presented. First the choice of these sensors and the structure of system are introduced respectively. Then the navigation computer, which uses TI high-performance floating-point DSP as core processor, is designed to realize both the data collecting and the navigation calculating. According to the error models of inertial navigation system, an integrated navigation algorithm used Kalman filter is proposed to fuse the information from all of the sensors. Finally, the prototype test results are presented to show the feasibility of the system.

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