摘要
将伪距、伪距率组合方法应用于北斗二代卫星/SINS组合导航系统,利用卫星系统的星历数据与SINS给出的位置、速度计算出相应的伪距和伪距率,然后与接收的伪距和伪距率相比较得出误差作为量测值,通过卡尔曼滤波器估计卫星定位系统和SINS的误差量,从而实现系统的校正。建立了组合导航系统的状态模型和量测模型,仿真实验表明,该组合模式可得到很好的导航精度。
Apply the application of Pseudo-range and Pseudo-range rate integraled model to BeidouⅡ/SINS,which use the ephemeris of satellite and the positon,velocity given by SINS calculate relevant Pseudo-range and Pseudo-range rate,then compare this with receiver given, attain the error as measurement value. Estimating error of BeidoulI satellite position system and SINS by Kalman filter to realize error emendation for system. State and measurement model of integrated navigation are establishment. Simulation results show this integrated model can receive very high navigation accuracy.
出处
《全球定位系统》
2010年第1期25-29,共5页
Gnss World of China
基金
国家自然科学基金(60874112)
关键词
北斗二代
捷联惯导
组合导航
伪距
精度
BeidoulI
SINS
integrated navigation
pseudo-range
accuracy
