摘要
为了研究ＧＰＳ（ＧｌｏｂａｌＰｏｓｉｔｉｏｎｉｎｇＳｙｓｔｅｍ）／ＩＮＳ（ＩｎｅｒｔｉａｌｎａｖｉｇａｔｉｏｎＳｙｓｔｅｍ）组合导航系统的性能，利用跑车实验实时采集的惯性导航系统和ＧＰＳ的数据进行了测后仿真研究．分别进行了ＧＰＳ／ＩＮＳ位置、速度组合和伪距、伪距率组合仿真，仿真中组合Ｋａｌｍａｎ滤波器采用数值稳定性较好的ＵＤ分解算法．最后给出了纯惯导及组合后系统的位置、速度误差仿真曲线。
In order to research the quality of GPS/INS integrated navigation system,this paper studied the simulation by using the real time experiment data of inertial navigation system and GPS. The integrated GPS/INS position, velocity, pesudorange and pesudorange rate have been simulated respectively. U D discompose algorithm is used to Kalman filter. In the end , the paper presents the position and the velocity curves of the inertial navigation system and the integrated navigation system .Simulation results and relative conclusion are provided.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
1999年第3期299-301,共3页
Journal of Beijing University of Aeronautics and Astronautics
关键词
惯性导航
组合导航系统
半实物仿真
GPS/INS
inertial navigation
combinated navigation
Kalman filtering
global positioning system (GPS)
