低成本SINS/GPS组合导航系统的研究

Low-Cost SINS / GPS Integrated Navigation System

以简易制导航弹为对象,进行了低成本组合导航系统的研究。惯性导航系统具有体积小,功耗低等特点,但定位误差随时间积累,所以长期稳定性比较差。目前应用最多的卫星导航是美国的GPS,GPS具有良好的长期稳定性,但使用受制于美国政府,而且它的动态定位性能比较差以及更新率比较低。将两者结合起来,建立了适合工程应用的低成本SINS/GPS组合导航系统,应用自适应卡尔曼滤波技术实现数据的融合,并对系统进行了动态跑车试验,试验结果表明,该组合导航系统提高了导航精度。此方案具有较好的工程应用价值。

Taking the navigation system of the low cost guided missile project as the research object, the low cost integrated navigation system is investigated. The inertial navigation system features small size, low power and so on. But its long-term stability is poor because of position error accumulating with the growing time. Now the most widely used satellite navigation is the global navigation satellite system Long-term accuracy of GPS （global positioning system） is good but is subject to the American govern- ment. Its dynamic positioning performance is poor and the rate of updating is low. SINS （ strapdown iner- tial navigation system）/GPS integrated navigation system is made by using the advantages of two systems, which is suitable for en man filtering algorithm gineering application. The integrated navigation is implemented by adopting Kal- In the end, the result of the vehicle experiment indicates that the scheme can im- prove the precision of the navigation system and has high engineering practice.