利用差分GPS提高惯性导航系统飞行测试基准的精度

Utilize Differential GPS for Improving INS Flight Testing Reference System Performance

—本文研究用增广卡尔曼滤器（ＥＫＦ），把高精度ＩＮＳ、差分ＧＰＳ（ＤＧＰＳ）和测距／测距率无线电应答器系统（ＲＲＳ）及气压高度计进行最优组合，构成ＩＮＳ测试基准的方法；重点讨论ＩＮＳ／ＲＲＳ／ＤＧＰＳ卡尔曼滤波器误差模型。计算机仿真结果表明，基准导航系统的高度精度为１．２５ｍ（１σ），水平位置精度可达０．５９ｍ（１σ），速度精度为０．０１５ｍ／ｓ（１σ）。

This paper investigates using the extended Kalman filter develop-ment package for optimal filter evaluation is presented,and INS/RRS/DGPS Kalman filter model is developed.The enhanced navigation reference system can determine the aircraft's position with a 1σ accuracy of0.59m horizontal and 1.25m vertical;the north and east velocity to 0.012m/sec 1σ;and the vertical velocity to 0.015m/sec 1σ.