SINS/GPS组合导航的扩展Kalman滤波算法

SINS/GPS Integrated Navigation Extended Kalman Filtering Algorithm

针对捷联惯性导航系统(SINS)无法长时间单独工作和GPS卫星信号易失锁而无法定位的问题,分析了两种导航系统的优缺点,提出了SINS/GPS组合导航的方法.建立了陀螺和加速度计的误差模型,采用松耦合方式,设计了扩展Kalman滤波器.以姿态、速度、位置的误差以及陀螺、加速度计的误差作为状态变量,对姿态、速度、位置进行校正.运用Matlab对组合导航系统进行了仿真.结果表明,该算法简单,容易实现,能满足导航精度要求.

In view the problems such as strap--down in- ertial navigation system（SINS） can＇t work alone for longtime,GPS navigation cafft locate when it is in turnel,a SINS/ GPS integrated navigation method is proposed based on the analysis of SINS and GPS. Extended kalman filter is de- signed with loose integration of the error model of gyro and aceelerometer. The errors of attitude, velocity, position and the errors of gyro and aecelerometer are taken as state varia- bles,with attitude, velocity and position being revised. The results of simulation show that this method is easy to come true and can meet the requirement of the precision of naviga- tion using matlab.