摘要
捷联惯导系统(SINS)由于受到自身传感器性能和惯性导航原理的影响,导航定位误差较大。随着GPS导航系统性能的不断完善以及GPS固有的一些不足之处,将SINS和GPS两者进行组合形成组合导航系统,以此来完成载体的导航任务成为目前的研究热点。针对一种适合于工程应用的低成本SINS/GPS组合导航系统进行了仿真研究,并对该组合导航系统建立了一种工程化的系统模型。利用自适应卡尔曼滤波器对系统误差进行估计,获得了良好的效果。通过仿真实验验证了所建立的系统模型能够满足组合导航系统的功能要求并具有良好的稳定性。
Strap-down Inertial Navigation System（SINS）has large navigation error affected by navigation principle and the function of sensor which the SINS own had.With the function of GPS continuing improve and some weakness that GPS inherent has still existing,using the advantages of two system makeup a integrated navigation system and using the new system implement navigation task becoming a hotspot of research.The paper do some simulation research aimed at a low-cost integrated navigation system which is suitable for engineering application and build a engineering prototype of the system.Using the adaptive Kalman filtering estimating the system error and get well effect.Finally throughout the simulating experiment validate the system prototype can fulfil function request of the integrated navigation system and have nicer stability.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第10期62-65,共4页
Fire Control & Command Control
基金
国防预研基金资助项目(9140A25040307HK0306)
