GPS／捷联惯性组合导航系统的一种半实时算法

A Semi-Real Algorithm of GPS/SINS Integrated Navigation System

本文讨论了ＧＰＳ／捷联惯性组合导航系统的原理和特点，针对其理论仿真和工程实现中的衔接问题，提出了一种半实时算法。该算法既继承了理论仿真方便、直接的优点；又充分利用了实测数据。系统调试成功后，可以直接将全套软件转换到导航计算机中。文中给出了半实时算法的原理和方案，讨论了组合卡尔曼滤波器的实现和ＧＰＳ仿真器、航迹仿真器、惯性器件等的设置。最后给出了有关结论。

In this paper, the principle and specificity of the GPS/SINS integrated system are studied. In view of existing problem between system simulation and engineering realization,a semi-real algorithm has been presented in the paper. The algorithm not only inherits the advantages of direct and convenience with system simulation, but also makes good use of measurement data achieved in practical expriment. When the system has been tested successfully ,then the GPS/SINS soft programs would be transferred directly to navigation computer. In this paper, the principle and plan of semi-real algorithm are explained.Integrated Kalman filter,GPS simulation, track simulation, inertial measurement umit simulation and so on are discussed. The result about algorithm is given last.