摘要
对SINS/two-antennaGPS全组合导航系统进行了研究,建立了相应的误差模型和系统观测模型,特别是组合系统下的GPS载波相位双差观测模型。提出了一种扩展的卡尔曼滤波方法,并进行了系统硬件集成设计。仿真结果表明:该设计改善了系统性能,提高了导航定位的精度、可靠性和实用性。
The strapdown inertial navigation system （SINS）/two-antenna GPS integrated navigation system is discussed. Corresponding error and the measurement models are built, especially the double differenced GPS carrier phase model. The extended Kalman filtering is proposed. And the hardware composition and connection are designed to simulate the SINS/two-antenna GPS integrated navigation system. Results show that the performances of the system, the precision of the navigation and the positioning, the reliability and the practicability are im proved.
