摘要
惯导（INS）被认为是自主性最强、隐蔽性最好、应用最广泛，不受外界干扰的导航系统，而捷联惯导（SINS）以其诸多优点，成为惯性导航的一个主要发展方向。本文研究基于集中和联邦滤波的捷联惯导与GPS、罗兰C、双星组合导航系统，利用双星、罗兰C等子系统提供的参数信息对组合导航系统进行集中和联邦卡尔曼滤波，校正捷联惯导系统的误差。在对系统进行了理论仿真、比较的基础上，进行了海上试验，给出了动态试验的结果。理论仿真和基于实测数据的试验结果表明，本文介绍的滤波器是可行的，具有较高的滤波性能和精度，很好地提高了导航系统的可靠性和性能。
INS is thought that the independence is strong, the concealment is best, the application is extensive .It is a navigation means that is free from the outside interference. SINS is a main direction of development with its many advantages. The integrated navigation system of SINS/GPS/Loran-C / RDSS based on the concentrated Kalman Filter and Federated Kalman Filter is focused on. The method makes use of navigation information from RDSS, Loran-C etc to provide the concentrated Kalman Filter and Federated Kalman Filter of the integrated system, and to correct SINS. The simulation and experiments in surface ship are carried on and the results are presented. The theoretical simulation and the experiment results of the actual data indicate that the SINS/GPS/Loran-C/RDSS is effective ,reliable, and has higher accuracy.
