摘要
针对INS/GPS组合导航系统航向角可观测性差的问题,提出了把航向信息耦合到Kalman滤波器量测方程中的方法,以及用航位推算校正航向的方法来抑制航向角发散的趋势。为满足低成本、小型化的要求,以MEMS陀螺和加速度计为核心,构建了高精度组合导航系统。仿真试验表明,两种算法均达到了较高的定位/定向精度,对导航系统在小型化领域的推广应用具有实际意义。
An integrated MINS/GPS navigation system is presented as an airborne equipment for UAV. The heading＇s observability is very weak. In order to eliminate this divergent trend, two methods that Kalman filter with heading coupling and dead reckoning revising the heading of SINS are proposed. The simulation results show that these methods can effectively eliminate the divergent trend of heading, and have high positioning and orienting precision. The system can be used on UAVs and airships. It will have more and more bright future.
出处
《武汉大学学报（信息科学版）》
EI
CSCD
北大核心
2010年第2期160-163,共4页
Geomatics and Information Science of Wuhan University
基金
北京航空航天大学985工程资助项目(BHA985-2-15)
