一种SINS/GNSS级联闭环反馈式组合导航系统的设计与研究

A Cascade SINS/GNSS Integrated Navigation System with Closed Loop Feedback

对于目前的级联式SINS/GNSS组合导航系统来说,其卡尔曼滤波器的输出校正方式不能深入到捷联解算内部,无法抑制平台姿态误差的发散,也无法校正惯性器件误差,因而在该方式长时间运行不能控制滤波发散,导航精度随时间下降。为此设计了一种SINS/GNSS级联闭环反馈式组合导航系统,该系统能对SINS的位置、速度误差、平台误差及惯性器件误差作出最优估计并实施反馈。通过仿真证明:该系统不仅能提高导航解的精度,还在校准的同时具有动机座对准能力,满足了长时间导航定位的稳定性。

The output of Kalman filter for SINS/GNSS integrated navigation system cannot be feedback to the algorithm of strapdown inertial navigation system and can not restrain the accumulation of the errors caused by the platform and inertial measurement unit, so the navigation accuracy will decrease. In this paper, a closed loop feedback cascade SINS/GNSS integrated navigation system is designed. The system can give the best estimation for the errors of position, velocity, and platform which are caused by the algorithm of SINS and the errors which are brought by the inertial measurement unit, then it can feedback to the SINS by itself. The system is demonstrated by simulation to have such characters as high accuracy and the ability of motion alignment, so it can keep the stability of long time navigation.