单频DGPS、INS和计程仪组合而成的集成导航系统

Integrated Navigation System Consisted of Single Frequency DGPS,INS and Odometer

在单独分析全球定位系统(GPS)、惯性测量装置、记程仪导航方法的基础上,为了提高导航的精确性与可靠性,提出了由低价惯性测量装置(IN S)、单频差分全球定位系统(DGPS)和计程仪组合而成的集成导航系统;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线性测量模型;借助一种扩展的卡尔曼滤波方法,进行了仿真研究。仿真结果表明:与单独作用的导航系统相比,集成导航系统能较大地提高导航的精度。

This paper describes an integrated navigation system which consists of low-cost Inertial Measurement Unit （IMU）, Single Frequency DGPS （SF DGPS）, and odometer for ship tracking and navigation. The motivation of the technique is for reliable navigation, even when some of the GPS signal is blocked. The integrated navigation is mainly discussed, and corresponding error model and measurement model, especially carrier phase model based on integrated navigation system are set up in this paper. Then the simulation on the system is carried out by means of an extended Kalman filter. The simulation results show that the system can improve the precision of navigation and positioning.