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基于广义卡尔曼滤波的伪距组合GPS/INS导航 被引量:4

The GPS/INS Pseudorange Integrated Navigation Based on Extend Kalman Filtering
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摘要 提出了一种利用广义卡尔曼滤波进行GPS/INS组合导航的技术 ,同时给出了一种最优选星算法。采用间接的反馈校正设置 ,直接利用伪距数据和不受噪声污染的星历数据。利用该方法 ,组合导航精度高 ,在导航过程中若丢失GPS信息 ,短时间内单纯INS的导航精度仍能保持。恢复GPS信号后组合系统继续正常工作。 This paper presents an extend Kalman filt er ing (EKF) technique for GPS/INS integrated navig ation.At the same time it gives an efficiency method to find the optimal combina tion of the satellites that examined. It uses indirect feedback configuration w hich based on pseudorange data and ephemeris without being affected by noise. T he integrated navigation has higher accuracy using this algorithm, and if GPS message is interrupted abruptly in the process of integrated navig ation, the pure INS can maintain a relative high navigation accu racy for a certain time .When GPS message is returned to normal receiving , the integrated GPS/INS navigation will resume normal working.
出处 《航天控制》 CSCD 北大核心 2004年第4期52-56,共5页 Aerospace Control
基金 教育部博士点基金项目 (2 0 0 30 2 870 0 5 )
关键词 组合导航 广义卡尔曼滤波 INS GPS 选星算法 Subject terms Integrated navigation Extend Kalman filtering INS GPS Select satellites algorithm
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