摘要
在基于卡尔曼滤波器并引入了姿态观测量的GPS/SINS组合导航系统中,GPS天线体坐标系与IMU所在的载体坐标系由于安装误差或其他原因不能完全重合,两个坐标系间存在失准角,导致多天线GPS与SINS输出的姿态信息在空间不能同步,这将影响卡尔曼滤波的效果。本文针对这一问题进行了深入的研究,分析了两个坐标系空间不一致的机理,给出了静态和动基座情况下标定两个坐标系位置关系的方法并进行仿真分析验证了其可行性。
This paper addresses the problem of spatial inconsistency in GPS/SINS integrated systems with attitude measurement and Kalman filter. The inconsistency is due the misalignment between the GPS antennas body frame and the vehicle body frame onto which the inertial measurement unit is installed. The misalignment may degrade the performance of the Kalman filter. Therefore, after a detailed analysis on the misalignment mechanism, we present an approach to calibrate the position relations between the two frames in both static and dynamic base cases. Simulation results show the feasibility of the proposed technique.
出处
《航空电子技术》
2005年第1期19-24,共6页
Avionics Technology
