摘要
利用电子罗盘辅助捷联惯导系统构成一种完全自主式的组合导航系统。本文推导了电子罗盘的姿态误差方程，用捷联惯导系统和电子罗盘输出的姿态误差的差值作为组合模式的测量值，利用卡尔曼滤波技术进行误差估计，给出了系统仿真结果。仿真结果表明组合导航系统可有效地减小姿态误差累积。
An independently integrated navigation system using electronic compass（EC） to assist the strapdown inertial navigation system（SINS/EC） is discussed. In this paper, the EC error equations are proposed. The observed, quantity of the SINS/EC is the attitude＇s differences between SINS and EC, and the SINS/EC also adopts a Kalman filter to estimate and correct the errors. The results of simulation indicate that the SINS/EC can effectively eliminate the errors of attitude.
关键词
捷联惯导系统
电子罗盘
组合导航
卡尔曼滤波
Strapdown INS
Electronic Compass
Integrated Navigation
Kalman Filter
