惯导/差分 GPS 组合系统中状态与偏差解耦算法研究

Research on SeparateBias Estimation in INS/DGPS Integrated Navigation System

本文研究了状态与偏差解耦算法在差分ＧＰＳ／ＩＮＳ组合系统中的应用。该算法能大大提高定位精度，降低计算量，实现高精度快速估计的目的，它尤其适合于偏差项较多的场合。在差分ＧＰＳ／ＩＮＳ组合系统中估计陀螺漂移和加速度计常值偏差，取得了较为满意的仿真结果。

This paper studies the separatebias filter algorithm and its application in INS/DGPS integrated navigation system.The algorithm is used to improve the positioning accuracy and reduce computation.It is especially suited to the situations with more bias terms.The result of computer simulation shows that the algorithm is useful and effective in the estimation of gyroshift and accelerometer alignment errors in INS/DGPS integrated navigation system.