摘要
为了解决GPS信号失锁引起的无法定位和INS积累误差引起的长时间漂移问题,以GPS/INS组合导航系统的数据融合理论作为基础,卡尔曼滤波作为主要融合方法,对进入组合车辆系统的GPS定位数据与INS定位数据分别进行估计、修正和融合,推导出GPS/INS组合导航系统的状态方程、测量方程和递推滤波方程,同时对分散滤波结构和联合滤波结构进行仿真比较,结果表明后者的定位精度高于前者。
GPS system can＇t locate when it is in turnel, while INS system can＇t locate when the accumulated error is too much. GPS/INS integrated vehicle navigation system can solve this problem based on data fusion principle, mainly using Kalman filter to estimate, correct, and mix GPS position data and INS position data. Taking reliability and cost into account, this paper deduce status and measuring equation, filter equation of GPS/INS integrated navigation system by Kalman filter principle, simulate and compare the dispersing filter structure with combining filter structure. The simulation results indicate the latter has higher precision.
出处
《信息与电子工程》
2008年第6期420-423,436,共5页
information and electronic engineering
