SINS/GPS组合导航系统Kalman滤波仿真研究

Simulation of Integrated SINS/GPS Navigation System with Kalman Filtering

为提高捷联惯导系统SINS和全球定位系统GPS的精度和可靠性,研究了SINS和GPS的原理,建立了SINS/GPS系统的状态方程和位置速度误差量测方程;并采用卡尔曼滤波算法实现了SINS/GPS的组合导航。Matlab仿真结果证明,采用Kalman滤波实现SINS/GPS组合导航,其精度得到大大提高;且采用SINS/GPS组合导航系统,克服了SINS惯性导航难以长时间独立工作的缺点,解决了GPS易失锁、难以实时控制的不足,保证了导航系统的实时性及较高的精度和可靠性。

In order to enhance the accuracy and reliability of the strap-down inertial navigation system（SINS） and global positioning system（GPS）,the principles of SINS and GPS are researched.The state equation of SINS/GPS and the measurement equation of the position velocity error are established;and the SINS/GPS integrated navigation is implemented by adopting Kalman filtering algorithm.The Matlab simulation result proves that this integrated navigation realized by Kalman filtering greatly enhances the accuracy.In addition,the integrated navigation system overcomes the disadvantage of SINS,i.e.,hard to operate independently in long period;and solves the problems of GPS,i.e.,easily unlock,and poor real-time control performance;thus the high accuracy and reliability and real-time performance of the navigation system are guaranteed.