车载挠性SINS/GPS组合导航系统研究

Research on Flexible SINS/GPS Integrated Navigation System for Vehicle

本文介绍了一种实用车载挠性ＳＩＮＳ／ＧＰＳ组合导航系统的软、硬件组成。针对挠性动调陀螺和伺服加速度计的随机漂移问题，提出多项式拟合补偿的思想，并在此基础上设计了基于ＵＤＵＴ 分解的卡尔曼滤波器。通过实验室组合导航实验，验证了多项式补偿和组合方案的有效性，同时也说明了该系统是一种具有较高性能价格比的实用陆地战车导航系统。

This paper describes the software and the hardware configuration of a practical flexible SINS/GPS integrated navigation system for vehicles.The idea of polynomial fitting compensation is introduced to correct the random drift of dry tuned gyro and servoaccelerometer bias drift.Further more,the SINS/GPS integrated navigation Kalman filter algorithms based on the UDU T covariance factorization are discussed.Finally,the laboratory experimental results are given to show the effectiveness of the polynomial compensation and the SINS/GPS integrated scheme.The conclusion shows that it is a practical vehicle navigation system with high performanceprice ratio in application .