SINS/GPS组合导航系统仿真研究

Simulation of SINS/GPS Integrated Navigation System

以某载体的规划航迹数据为对象,针对捷联、卫星组合导航系统(SINS/GPS)进行了仿真研究。由规划航迹数据计算出载体的比力和角速度信息,输入至惯性测量器件模型,模型输出激励捷联解算模块,得到惯导系统输出参数;同时对规划数据添加观测噪声模拟GPS测量值。采用相对简单的基于半位置、半速度误差的误差方程作为状态方程,以松耦合方式进行集中式Kalman滤波,给出了SINS单独工作与SINS/GPS组合得到的半位置、半速度误差分布。对各状态的观测度进行了研究,确定了不可观测的状态并给出了部分状态可观测度的时间分布。仿真结果表明,方法正确有效,可对SINS/GPS组合导航系统进行算法验证和方案性评估。

A SINS/GPS integrated navigation system is simulated with the scheme trajectory. The specific force and angle velocity of the vehicle obtained from computing the scheme trajectory are input to the module of Inertial Measurement Units（ IMU）, then the navigation parameter computation module is prompted by the output of IMU, finally, the navigation parameters are calculated . Meantime, the GPS measurement is obtained by adding measurement noise to the scheme trajectory. The error equation based on semi -position and semi -velocity error is employed as system state equation. The system state optima estimation is obtained by loose coupling way. Both semi - position and semi - velocity error propagation of SINS and SINS/GPS are presented. The observable degree of system state is analyzed and the unobservable states are determined. Observable degrees of part states are shown in terms of time. The simulation results show that the simulation is correct and can evaluate the performance of the integrated navigation system.