基于伪距伪距率的GPS／SINS组合导航系统联邦滤波器设计

Design of Federal Filter in GPS/SINS Integrated Navigation System Based on Pseudorange and Its Rate

详细推导了GPS／SINS组合导航系统模型。为了充分利用GPS的信息构造了最多个数的伪距、伪距率子滤波器，设计了有重置的联邦滤波器。通过修改常规联邦滤波器的信息分配算法．提出了一种新的联邦滤波算法。分析表明，新联邦滤波算法和常规联邦滤波算法相比，有相同的估计作用以及较少的计算量，得出两种算法本质相同的结论。

GPS/SINS integrated navigation system model is derived in detail. To make good use of GPS information at maximum, pseudorange and its rate subfilters are built, and a reset federal filter is designed. By changing information sharing algorithm a new algorithm of federal filter is presented. Theoretical analysis shows that the new algorithm has the same estimate effects and less computation, so is the same in essential with the conveentional one.