SINS/GPS紧密组合导航系统仿真研究

Simulation of SINS/GPS Tightly Coupled Integrated Navigation System

对紧密组合的SINS/GPS复合导航系统在高速、高机动弹道导弹上的可行性进行了分析研究。建立了紧密组合模式的SINS/GPS全系统的仿真模型,给出了GPS仿真器中导航星的位置计算、最佳导航星座选择及输出伪距的实现算法;选用伪距、伪距率为观测信息,分别采用输出和反馈校正两种模式,实现了基于伪距、伪距率的SINS/GPS紧密组合导航系统仿真。仿真验证表明,与松散组合模式相比,紧密组合导航系统收敛性好、导航精度高,能够很好地抑制弹道导弹在高机动飞行状态条件下惯导系统误差积累的现象,有较好的导航性能。

The feasibility of Strapdown Inertial Navigation System/Global Position System tightly coupled integrated navigation system is analyzed, when the system works on ballistic missiles with high speed and maneuverability. The simulation model of the integrated system is constructed, and some algorithms such as calculating GPS satellite positions, choosing the best satellite group and calculating pseudo range are presented. The simulation of the integrated system is realized by choosing pseudo-range and pseudorange rate as measurements and using output revision and backward revision respectively. The simulation results show that the tightly coupled integrated system has better navigation performance of efficient convergence and higher precision comparing with loosely coupled mode, and the system can effectively attenuate the accumulating errors of SINS when ballistic missiles flying with high maneuverability.