摘要
推导了GPS/BDS/SINS紧组合Kalman滤波模型,并且使用C语言编制了相应的紧组合程序,通过跑车试验验证算法的可靠性。跑车结果表明GPS/BDS/INS紧组合能够增加可观测卫星的数量,并且能够有效改善单系统的观测精度。跑车实测结果表明GPS/BDS/INS紧组合的结果在北东天3个方向的RMS为2. 7,2. 1,2. 1 m,试验结果验证了算法的正确性。
In this paper, the tightly coupled GPS/BDS/SINS Kalman filter model was deduced and estabilshed. The Kalman filter was realized by using C programming language and the algorithm was tested with real van test data. Test results show that the number of visible satellite can significantly increase with GPS/BDS/INS system and the navigation accuracy can be significantly improved. The measured results show that the RMS of positioning error of GPS/BDS/INS system is 2.7, 2.1 and 2.1m, which verifies the correctness of the algorithm.
作者
李智强
王青江
Li Zhiqiang;Wang Qingjiang(Shijiazhuang Highway Management Office,Shijiazhuang 050000,China;Wuwei Surveying and Designing Institute,Wuwei 733000,China)
出处
《石家庄铁道大学学报（自然科学版）》
2018年第3期81-85,共5页
Journal of Shijiazhuang Tiedao University(Natural Science Edition)
