摘要
根据SPKF滤波理论,建立捷联惯导系统在地理坐标系中的误差方程和GPS导航定位的误差模型,设计了GPS/INS的SPKF滤波器。该系统中含有位置误差、速度误差、平台误差角、陀螺漂移、加速度计偏差等17维状态。利用伪距、伪距率的观测信息对全部状态进行观测。对组合导航系统进行了动态仿真,仿真结果表明系统估计状态的导航精度高,系统的鲁棒性好。
According to the SPKF filter theory, this paper research on tightly-coupled GPS/INS integrated navigation system , which has 17 state of position error, velocity error, misalignment, gyro bias, accelerator bias. INS error equa- tions projected in geographic coordinate and GPS error model are established, and SPKF filter model of GPS/INS is designed. Computer simulation results show that navigation accuracy is improved greatly, and the robust of system shows goodness.
出处
《弹箭与制导学报》
CSCD
北大核心
2007年第1期1-4,9,共5页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
国家自然科学基金资助(60474046)
