基于量测多尺度预处理的GPS/SINS组合导航系统

GPS/SINS Integrated Navigation System Based on Measurement Multi-Scale Preprocessing

针对GPS/SINS组合导航系统的信息融合问题,运用多尺度分析的思想,结合传统的Kalman滤波方法,提出了基于量测多尺度预处理的Kalman滤波算法。将上述方法引入到GPS/SINS组合导航系统中,并通过实际的静态试验给予验证。试验结果表明,该方法是一种有效的预处理方法,使组合导航系统的各项导航参数精度得到了显著提高。

Aiming at the information fusion of GPS/SINS integrated navigation system, puts forward one kind of Kalman filtering algorithm based on measurement multi-scale preprocessing using the idea of multi-scale analysis and combining the traditional Kalman filter. Then the above method is introduced to the GPS/SINS integrated navigation system, and is validated by the practical static experiment. The experimental results show that when the method is used, the precision of every navigation parameter is improved obviously.