摘要
研究了SINS(StrapdownInertialNavigationSystem)/Two antennaGPS(GlobalPositioningSystem)全组合系统,建立了相应的误差模型和系统观测模型,特别是组合系统下的GPS载波相位双差观测模型。提出了一种扩展的卡尔曼滤波方法。并进行了系统硬件集成设计。仿真结果表明:该设计改善了系统性能,提高了导航定位的精度、可靠性和实用性。
SINS/Two-antenna GPS is discussed in this paper, and corresponding error model and measurement model, especially double-differenced GPS carrier phase model are setup. Mainly this poper introduces a extended Kalman filter, and gives the hardware composition and connection for the SINS/two-antenna GPS integrated navigation system. The results show that the system performances, the precision of navigation and position, the reliability and the practicability are improved.
出处
《华东船舶工业学院学报》
2004年第5期38-43,共6页
Journal of East China Shipbuilding Institute(Natural Science Edition)
基金
行业重点项目(校编2004309)
