摘要
GPS 系统具有较高的航向和姿态测量精度,且无漂移误差。文中基于新型的 GPS 测姿系统,建立了一种 GPS/INS 综合导航系统。研究了以位置、速度和姿态信息作为观测量的 INS/GPS 综合导航系统滤波方法,给出了系统的误差方程,并针对舰船运动模型进行了卡尔曼滤波算法研究。分析表明,增加姿态信息作为观测量可有效地提高系统导航参数的估计精度和速度。
In traditional way,GPS's position and velocity are used to be the measurement variables in Kalman filter design for INS/GPS integrated navigation system.Recently the GPS attitude determination system already has high attitude accuracy and without drift error.Based on a new GPS attitude determination system (Ms860),a new GPS/INS system is built in this pa- per.The position,velocity and attitude of GPS are chosen as the measurement variables in INS/GPS Kalman filter design.The error equations of this new integrated navigation system are described.Simulation results show that the evaluation precision and velocity of the navigation parameters were effectively improved in the new integrated navigation system.
出处
《弹箭与制导学报》
CSCD
北大核心
2003年第S4期91-93,96,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
综合导航
GPS
INS
测姿
卡尔曼滤波
integrated navigation
GPS
INS
attitude determination
Kalman filter
