基于自适应滤波的GPS/INS数据融合算法

GPS/INS Data Fusion Algorithm Based on Adaptive Filtering

研究了高动态环境下的GPS/INS组合导航系统,重点讨论了基于伪距、伪距率的GPS/INS数据融合算法。借助于载体的运动模型、GPS系统和INS系统的定位误差模型,建立了组合导航系统的状态方程和量测方程,利用自适应Kalman滤波算法实现了GPS/INS系统的伪距、伪距率融合。最后,利用实测数据对数据融合算法进行了仿真,结果显示该数据融合算法能够增强组合导航系统的精度、可靠性和完备性。

GPS/INS integrated navigation system in high dynamic environment is studied,GPS/INS data fusion algorithm based on pseudo-range and pseudo-range ratio is mainly discussed in this paper.By means of the kinetic model of carrier and the location error model of GPS system and INS system,the state equation and the observation equation are founded,GPS/INS data fusion algorithm based on pseudo-range and pseudo-range ratio is implemented using adaptive kalman filtering algorithm.Finally,data fusion algorithm is simulated,simulation results show that the data fusion algorithm can improve precision,reliability and maturity of integrated navigation system.