陆基MMS中GPS/INS滤波器的探讨

The Probing of GPS/INS Filter in Land- based MMS

陆基MMS(移动测图系统)是为满足现代工程建设和地理信息系统建立对数据采集的实时化和周期化要求而设计的3S(GPS,GIS,RS)集成系统.陆基MMS一般采用GPS(全球定位系统)和INS(惯性导航系统)的组合系统对载体进行定位,再由其它测图传感器获取载体与所测目标的相对空间位置关系,从而最终测取目标的地学空间位置.因此GPS/INS组合系统的精度对整个MMS的精度影响很大.目前,GPS/INS组合系统普遍采用卡尔曼滤波对两者的观测值进行滤波,但这种方法有不足之处.本文回顾了卡尔曼滤波在GPS/INS中的应用,提出了相应的改进方法,进而为改善MMS精度提出了举措.

Land-based MMS(Mobile Mapping System) is a 3S(GPS,GIS,RS) integrated surveying system to fulfill the real-time and periodic data collection for modern surveying engineering and GIS.The error of MMS is composed of 8 types of different errors.One main measuring error is vehicle-positioning error.This paper discussed this error in order to improve the precision of mapping.The so-lution of vehicle positioning used new filter model for GPS/INS system.The models have actual meaning for Land-based MMS fulfilling the requirement of large-scale mapping.