GPS/惯性组合导航系统导航性能的仿真与分析

THE SIMULATION AND ANALYSIS OF NAVIGATION PERFORMANCE FOR INTEGRATED GPS/INERTIAL NAVIGATION SYSTEM

本文从卡尔曼滤波的基本原理和几何精度因子GDOP的物理意义出发,并结合实例的仿真计算结果,讨论GPS/惯性组合导航系统的定位和测速精度。结果表明:由于位置和速度的双重组合,且由于卡尔曼滤波具有利用以前所有测量值的能力,以及综合利用GPS和惯导信息的能力,所以组合系统的精度虽仍与GDOP有关,但却高于单独利用GPS接收机点解法得到的定位和测速精度,其中定位精度的提高更为显著。

This paper discusses the navigation performance of integrated GPS/inertial navigation system (INS) according to the principle of Kalman filter, the concept of GDOP and the result of simulation tests. The accuracies of position and velocity (especially the former) of the integreted system are much beffer than that of the point solution of GPS receivor. Tnis comes from the function of Kalman filter which utilizes all the measurement data of tne past up to the update time and combines the information from both GPS and INS.