一种小型飞行器INS/GPS组合导航系统设计及仿真

Design and Simulation of INS/GPS Integrated Navigation System for Small Aircraft

惯性导航系统(INS)中,导航误差会随着工作时间的增长而积累,最终导致系统发散,为了解决这个问题,提出了一种基于线性卡尔曼滤波的INS/GPS组合导航的方法。首先,详细阐述了误差的来源以及组合导航系统的结构,并建立了状态空间表达式,随后得到卡尔曼滤波器时间更新方程,卡尔曼滤波器测量更新方程,相关卡尔曼滤波方程以及增益。最后基于所建立的数学模型进行仿真,研究其组合导航前后目标的轨迹与误差变化,进而验证了该算法的有效性。结果表明:在2500 s内位置偏差能保持在2.607 m以内,速度偏差能保持在0.6521 m/s以内。

In order to solve the problem that the navigation error of the inertial navigation system(INS)accumulated with the increase of working time and finally led to the divergence of the system,a method of INS/GPS integrated navigation based on linear Kalman filter was proposed.The design of the integrated navigation system model was illustrated and the state space expression was established.The Kalman filter time update equation,the Kalman filter measurement update equation and the related Kalman filter equation and gain were obtained.Finally,based on the established mathematical model,the simulation was carried out for the study on the trajectory and error of the target before and after the combined navigation.the accuracy and effectiveness of the method were verified.The results showed that the position deviation could be kept within 2.607 m within 2500 s,and the speed deviation could be kept within 0.6521 m/s.