摘要
根据SINS/GPS组合导航的基本原理,重点研究联合卡尔曼滤波方法在组合导航中的应用,基于最优化理论的数据融合技术,通过分析纯惯性导航系统的误差,建立了组合导航系统的误差模型,设计了高可靠性、易于工程实现的简化联合卡尔曼滤波器和对应的数据融合算法。并对该导航系统进行了动态实验,结果表明组合导航能有效抑制导航参数误差,提高导航精度。
Based on the basic principles of SINS / GPS integrated navigation system pure error of inertial navigation system is analyzed and the integrated navigation system error model is established,which is designed for the high reliability and is easily to achieve a simplified Kalman filter and the corresponding data fusion algorithms. And dynamic experiments for the navigation system has been done. Experimental results showthat navigation can effectively inhibit the navigation parameter errors and improve navigation accuracy.
出处
《沈阳理工大学学报》
CAS
2014年第6期20-23,共4页
Journal of Shenyang Ligong University
关键词
组合导航
卡尔曼滤波
数据融合
integrated navigation
Kalman filter
data fusion
