GNSS/INS组合导航系统发展综述

Overview of the Development of GNSS/INS Integrated Navigation System

组合导航系统是对两种或以上导航系统数据源,运用一定的算法模型综合处理后,综合各子系统优势,获得更高精度和可靠性的综合导航系统。组合导航有利于充分利用各导航子系统进行信息的冗余互补与融合利用,是最广为应用的导航方法。将全球导航卫星系统(global navigation satellite systems,GNSS)与惯性导航系统(inertial navigation system,INS)组合,两者优势协同,战略互补,可以充分发挥出两种系统的长处。本文对组合导航系统组成与工作原理、组合导航的三种组合方式:松组合、紧组合与深组合及国内外研究现状进行了基本介绍,而后对卡尔曼滤波及改进算法研究现状与应用实现进行了介绍,并使用matlab软件对算法性能实现并仿真对比。

The integrated navigation system is a comprehensive navigation system with higher precision and reliability after comprehensive processing of two or more navigation system data sources using a certain algorithm model,synthesizing the advantages of each subsystem.Integrated navigation is beneficial to make full use of each navigation subsystem for redundancy,complementarity and fusion of information,and is the most widely used navigation method.Combining global navigation satellite systems(GNSS)and inertial navigation system(INS),the advantages of the two are synergistic and strategically complementary,which can give full play to the strengths of the two systems.This paper gives a basic introduction to the composition and working principle of the integrated navigation system,three methods of integrated navigation—loose combination,tight combination and deep combination,as well as the research status at home and abroad.The research status of unscented Kalman filter technology is introduced,and the performance of the algorithm is realized and simulated by matlab software.