GPS／INS组合导航系统的平滑滤波应用研究

The Application of Smoothing Filter to GPS/ INS Integrated Navigation System

在一些特殊应用场合，采用平滑滤波的处理方法，可以大大改善ＧＰＳ／ＩＮＳ组合导航系统的定位精度。有关飞行器精密定位参照系统的事后处理算法，平滑滤波的算法，与卡尔曼滤波器的关系，以及在ＧＰＳ／ＩＮＳ组合导航系统中平滑滤波的实现技术，在本文中作了讨论并给出了系统的原理结构和仿真方法。仿真结果表明平滑滤波精度比卡尔曼滤波器的精度提高一倍左右，是一种有效的事后处理技术。

in some special applications,the smoothing filter technique can enhance the positioning accuracy of GPS/INS integrated navigation system. The post-flight processing algorithm for vehicle precision positioning reference system,algorithm of smoothing filter, relation between smoothing filter and Kalman filter,and realization of smoothing filter technique in GPS/INS integrated navigation system .are discussed in this paper. Then, the principle structure and simulation method are given. The result Of simulation shows that the positioning accuracy of smoothing filter is double that of Kalman filter, so, this is a very effective post-flight processing technique.