摘要
阐述了利用位置和速度以及 GPS姿态作为观测量的 GPS/INS组合导航系统原理 ,建立了状态变量为 2 1维的组合系统动态方程 ,给出了用于卡尔曼滤波的 GPS姿态误差模型 ,并对组合系统进行模拟分析 ,基于这种组合方式 ,使系统的位置和航向测量精度获得大幅度提高。
The GPS and INS integrated navigation system using the observation of position,velocity and attitude are discribed,and the dynamic equations for the integrated system are set up.With the given airplan trace, the simulation analysis to integrated system are performed with the help of digital computer using the theory of Kalman filter.The result shows that the integration attitude measurements can provide direct observation of the error of SINS,thus improve the performance of the navigation system.Another observation is that the GPS attitude measurements do have a significant effect on the resulting position accuracy and are more effective in reducing the heading error than the position measurements.If GPS attitude measurements are the only measurements used in the Kalman filter,the performance of the navigation system can be better than that of only using position measurements.
出处
《中国惯性技术学报》
EI
CSCD
2000年第3期1-7,共7页
Journal of Chinese Inertial Technology
基金
国防科工委预研基金
中国航空工业总公司预研基金
