基于降阶模型的GPS/PINS组合导航试验研究

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

卡尔曼滤波器的计算负担与其阶数的三次方成正比,为了研究GPS/PINS(PlatformInertialNavigationSystem)组合导航系统的性能,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。为评估二者的组合效果,同时接入差分高精度GPS,跟组合结果进行比对。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。

The computational complexity of Kalman filter is proportional to the third power of its order. In order to research the quality of GPS/PINS integrated navigation system, based on the Kalman filter order reduced model, the GPS/PINS real-time integrated navigation experimentation system on the testing car was designed. The position and velocity of GPS with normal accuracy and threeway accelerations and angels of pose from the pla（form were acquired. The acquired data were fused to compute the position and velocity of carrier. In order to evaluate the combination the effect of system, the difference GPS with high precision were imported as a standard source to compare with the combination results. The experiment results show that the combination system can accomplish the navigational task satisfactorily.