INS/ESGM组合系统导航数据处理技术研究

Study on Navigation data processing Techniques for INS/ESGM Integrated System

本文建立了ＩＮＳ和ＥＳＧＭ的误差方程，在此基础上，实现了ＩＮＳ／ＥＳＧＭ组合系统导航过程的卡尔曼滤波器设计。仿真试验表明，本文所设计的滤波器实际可行，利用该滤波器ＩＮＳ／ＥＳＧＭ组合系统能够给出高精度的位置。

Based on the error equations of INS and ESGM,a Kalman filter of INS/ESGM integrated system during navigation task is designed in this paper.By the analyses and simulations,the results show that this navigation filter is usable.Using the filter,INS/ESGM integrated system can provide high accurate data of position ,attitude and velocity.