基于降阶模型的GPS/PINS组合导航半实物仿真研究

Research on GPS/PINS Integrated Navigation Semi-physical Simulation Based on Order Reduced Model

文中基于卡尔曼滤波器降阶模型,设计了GPS/PINS实时组合导航跑车试验系统。跑车试验过程中实时采集GPS的位置和速度信息以及平台惯组的加速度和姿态角等信息,进行滤波解算,实时输出解算结果。试验结果表明,基于降阶模型的组合导航系统可以满意的完成导航任务。

Based on the Kalman filter order reduced model, this paper designed the GPS/PINS real-time integrated navigation experimentation system on the testing car. The position and velocity of GPS with normal accuracy and threeway accelerations and angels of pose from the platform are acquired. The acquired data are fused to compute the position and velocity of carrier. The experiment results show that the combination system can accomplish the navigational task satisfactorily.