铷钟辅助GPS／气压计／罗经组合导航算法研究

Study of Rubidium Clock Aided GPSPBarometer/Gyro Integrated Navigation Algorithm

单独的GPS无法进行定位导航时，如果仍要保持定位，则需与其他的传感器进行组合，组戍较为完备的导航系统．本丈研究了铷钟辅助GPS与气压计和罗经的集成系统的组合算法，每一个传感器都有自己的滤波器，主滤波器是基于GPS的，所有的局部滤波器都馈入到主滤波器中并在那里进行信息融合．最后，通过一个实例对所提出的算法进行了验证．

While only using GPS can＇t keep continuous positioning, GPS must integrated with other sensors to buildup a relatively a self-contained navigation system. In this paper, an algorithm is developed for rubidium clock aided GPS/barometer/gyro integrated navigation systenx Each sensor has its own filter, the master filter is GPS-based All local filters feed in the master filter where fusion of all information is made. The implementation aspects of the method is also discussed along with a numerical example to validate the proposed method.