基于球面模型的GPS/DR组合导航系统研究

Research on the GPS/DR Integrated Navigation Based on Spherical Models

在GPS/DR组合导航中,一般是基于二维平面建立的航位推算模型,由此建立常系数矩阵的卡尔曼滤波方程,并在此基础上求解。但是,实际运动物体都是在地球球面上运动。为了获得更精确的运动物体的数学模型,本文建立了GPS/DR组合导航系统的球面模型,得到了含不确定性参数系数矩阵的卡尔曼滤波模型,并利用改进的鲁棒卡尔曼滤波算法分别对运动体沿经度、纬度线和曲面圆周运动进行了仿真。仿真结果表明,基于本文建立的模型下的鲁棒卡尔曼滤波算法比常规卡尔曼滤波精度更高。

It is common that building and solving the Kalman filtering equation of constant coefficient matrixes based on the 2D DR models in the GPS/DR integrated navigation. In fact, the mobile objects move along the spherical surfaces on the earth. In order to gain a more accurate mathematical model, this article builds a spherical model of the GPS/DR integrated navigation, acquires a Kalman filtering model including the uncertainty parameter, and uses an improved robust Kalman fil- tering algorithm. Simulation is done for moving along longitude, latitude and circle movement respectively. The results indicate that the robust Kalman filtering algorithm based on the model of this paper is more precise than the Kalman filtering.