This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver d...This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.展开更多
The Successive Orthogonalization Decentralized Kalman Filter (SODKF ) is a new method which is used for large system state estimation. It can be applied not only to large system decentralization, but also to precisi...The Successive Orthogonalization Decentralized Kalman Filter (SODKF ) is a new method which is used for large system state estimation. It can be applied not only to large system decentralization, but also to precision realization at approximately the same level of the global filter, thus, making possible the engineering operation as well as shortening the computing time. This paper discusses the principles and features of SODKF when used in GPS/INS integrated navigation system. The system will be firstly divided into three subsystems and then corrected in both open and closed loops. The system simulation results by two integrated patterns show that SODKF is efficient and realizable. While the three subsystems are simulated in series, the computing speed doubles that of the global system. In addition, its optimal estimating precision remains unchanged. It can be concluded from this paper that large integrated navigation systems with GPS, INS, Terrain Match, Loran C, Doppler Radar and Radio Altimeter can be made more efficient by this multi subsystem of navigation.展开更多
文摘This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.
文摘The Successive Orthogonalization Decentralized Kalman Filter (SODKF ) is a new method which is used for large system state estimation. It can be applied not only to large system decentralization, but also to precision realization at approximately the same level of the global filter, thus, making possible the engineering operation as well as shortening the computing time. This paper discusses the principles and features of SODKF when used in GPS/INS integrated navigation system. The system will be firstly divided into three subsystems and then corrected in both open and closed loops. The system simulation results by two integrated patterns show that SODKF is efficient and realizable. While the three subsystems are simulated in series, the computing speed doubles that of the global system. In addition, its optimal estimating precision remains unchanged. It can be concluded from this paper that large integrated navigation systems with GPS, INS, Terrain Match, Loran C, Doppler Radar and Radio Altimeter can be made more efficient by this multi subsystem of navigation.
