GPS/INS组合导航系统优越性研究及仿真

Research and simulation of integrated GPS/INS navigation system

GPS和INS在导航过程中具有优势互补的特点,以适当的方法将两者组合起来成为1个组合导航系统,必定可以提高系统的整体导航精度及导航性能。本文在以Simulink为平台对INS、GPS进行单独仿真的基础上,充分考虑了各种误差情况,并结合深紧耦合的Kalman滤波器,对GPS/INS组合导航定位优越性进行了仿真验证,同时对GPS/INS组合时的数据同步问题作了较为详细地阐述。Simulink图形化的仿真结果不仅证明了组合导航提高导航精度的可行性,而且证实,通过适当的组合,系统的整体性能可以得到较为有效的改善。

In this paper, the precision of integrated GPS/INS navigation is simulated using Matlab＇s Simulink toolbox. Upon the Simulink platform, followed by studies of INS-alone and GPS-alone systems, we have simulated a deeply coupled integrated INS/GPS system model, which has taken various of error sources into account. An evaluation of the integrated system precision is obtained. The graphic simulation results from Simulink intuitively demonstrate that the integration of the two system effectively improves the positioning precision, and, in particular, through properly interpolation, the throughout of the system is improved.