摘要
为提高光纤陀螺捷联惯导系统的精度,以光纤陀螺捷联惯导系统与全球定位系统(GPS Globle Position System)为研究对象,采用联邦卡尔曼滤波算法,构成了SINS/GPS(Strap-down Inertial Navigation Systerm/Globle Position System)组合导航系统。仿真结果表明,该算法能及时修正子滤波器的偏差,大大降低子滤波器的模型误差,进而提高整个滤波器的精度,并有效克服了滤波发散现象。
In order to improve the accuracy of SINS（Strap-down Inertial Navigation Systerm）.The optical SINS and the GPS（Globle Position System） have been the objects of the study,and adopt the kalman filtering algorithm,constituting of the integrated system.The simulation shows that the integrated navigation system improves the precision of navigation system by correcting the subfilter offset timely and reducing the subfilter model error.especially overcoming filter diverging problem.
出处
《吉林大学学报（信息科学版）》
CAS
2012年第2期144-150,共7页
Journal of Jilin University（Information Science Edition）
关键词
光纤陀螺
捷联惯导
组合导航
联邦卡尔曼滤波
fiber optic gyroscope
strap-down inertial navigation systerm（SINS）
integrated navigation
kalman filter
