摘要
以单通道捷联惯性导航系统的速度误差和姿态误差方程为状态方程,以陀螺仪误差和垂线偏差为过程噪声,以DGPS的速度与捷联惯导的速度之差为观测量,建立Kalman滤波模型,经滤波得到高精度实时导航信息。从导航信息中提取水平重力信息,进而得到垂线偏差。对高精度惯性元件构建的惯导系统进行数值仿真,仿真结果表明,组合系统可以有效提高实时导航和姿态精度,经50s平均后,可以得到精度为2″的垂线偏差。
The Kalman filtering model is constructed in which single-channel velocity and attitude error equations of the strapdown inertial navigation system（SINS） are treated as the state equation, gyro error and deflection of vector are treated as process noise, and the velocity difference between DGPS and SINS is introduced as observed quantity. High precision information of navigation is obtained through Kalman filtering, from which the deflection of vector is derived. The SINS/DGPS integrated system with military grade inertial sensors is simulated, and it is concluded through simulation that the precision of the navigation and attitude parameters is effectively improved and the deflection of vector with the precision of 2＂ is obtained through 50 seconds adjustment.
出处
《海洋测绘》
2014年第3期37-39,43,共4页
Hydrographic Surveying and Charting
基金
国家自然科学基金(41374018)
关键词
捷联惯性导航系统
DGPS
矢量重力测量
KALMAN滤波
仿真
strapdown inertial navigation system
differential global positioning system
vector gravimetry
Kalman filter
simulation
