摘要
随着GPS姿态测量技术的发展,提出将捷联惯导系统和GPS输出的飞行器姿态信息也可以作为组合导航系统的测量值参与滤波算法.以Kalman滤波为基础,将两个导航子系统测得的飞行器位置、速度和姿态信息进行数据融合,估计出组合导航系统的误差状态量,进而修正捷联惯导系统的导航参数.详细推导了这种组合导航方式的测量方程,并将该组合导航技术应用于某飞行器进行仿真.通过对仿真结果的分析证实了该方案的可行性和算法的有效性,具有实际应用价值.
As the developments of GPS attitude determination, a new SINS/GPS integrated navigation mode is proposed, which adds the navigation subsystem＇s attitude data to its measurement variables. The navigation subsystems can provide the aircraft＇s corresponding position, velocity and attitude＇s data. Fusing these data, it can estimate the integrated navigation system＇s error state value and correct the strapdown inertial navigation system＇s parameter based on Kalman Filtering. The measurement equation of integrated SINS/GPS navigation system is deduced in detail and applies this SINS/GPS integrated navigation system into an aircraft. The numerical results show that the navigation scheme is feasible and the algorithm is effective. The method can be used in real application.
基金
科技部科研项目
