GPS/SINS组合导航系统有飞航导弹中的应用

研究了ＧＰＳ／ＳＩＮＳ组合导航系统在飞航导弹制导中的应用。中着重研究位置速度组合模式的ＧＰＳ／ＳＩＮＳ组合导航系统的构成和算法，简化误差模型，引入衰减记忆滤波。仿真结果表明，组合导航系统较准确地给出导弹的位置，速度和姿态信息，大大提高了制导精度。     

绕地轨道飞船自适应GPS／SINS组合制导系统研究

提出了绕地轨道飞船的ＧＰＳ／ＳＩＮＳ组合制导的工程应用研究，根据工程的要求，给出了自适应估计的应用方法，具有运用的方便性和可算性，而不是只给出形式解。在进行迭代仿真时，得到了满足工程需要的最优滤波曲线     

小型无人机GPS／航程推算组合导航系统研究

探讨了在无人机上发展ＧＰＳ／航程推算自式组合导航系统的必要性和可行性；对利用ＧＰＳ定位信息进行导航时所需的坐标转换问题作了分析研究；并对研制的ＧＰＳ／航程推逄组合导航系统的设计思想，总体方案，工作原软硬件结构作了介绍，给出了在小型无人机上进行导航试验的结果。     

联邦滤波器理论及其在组合导航系统中的应用

总结了Ｇａｒｌｓｏｎ提出的联邦滤波器理论，并介绍了联帮滤波器的几种特殊的信息分配方式。针对ＩＮＳ／ＧＰ／Ｄｏｐｐｌｅｒ组合导航系统，提出了联邦滤波器的２种设计方案，经过仿真证明了联邦滤波器在组合导航系统应用中的优越性和可行性。     

GPS/惯性组合导航系统的并行算法研究

基于导弹发射段ＧＰＳ／惯性组合导航系统模型,研究并行化滤波计算的平均算法、Ｕ－Ｄ算法及实现这些算法的阵列结构,满足组合系统的实时处理要求及提高算法的数值稳定性。     

分散化滤波及其在DGPS／INS组合系统中的应用

讨论了两种分散化滤波的合成算法，并对分散滤波器和联合滤波器的特点计算量进行了比较。本文还建立了伪距双差及载波相位双差ＧＰＳ／ＩＮＳ组合系统的Ｋａｌｍａｎ滤波方程，并分别用集中式和分散滤波器对它们进行了仿真。     

SA建模的功率谱分析法

探讨了ＧＰＳ导航信息中的ＳＡ建模的功率谱分析法，即采用ＦＦＴ对ＴＡＮＳ－２接收机记录的ＧＰＳ静态定位误差样本作功率谱分析，通过最小二乘拟合获得ＳＡ的平稳线性模型，并用车载组合导航系统的仿真结果验证了近似模型的有效性。     

GPS／GLONASS组合导航中的星历计算与数据融合

针对ＧＰＳ／ＧＬＯＮＡＳＳ组合导航中的需要,分析了ＧＬＯＮＡＳＳ卫星的广播星历格式,简化受力模型和星历计算方法,并给出了ＧＰＳ／ＧＬＯＮＡＳＳ的数据融合模型。     

RDSS/Doppler/GPS/SINS组合导航系统研究

针对双星定位系统(RDSS)存在的定位位置滞后的先天缺陷,根据组合导航定位系统输出速度误差小的特点,给出了一套消除RDSS位置滞后的方案,并对RDSS／SINS组合系统进行了建模,依据联邦滤波器理论,考虑到GPS的实际情况,提出了RDSS／Doppler／GPS／SINS多传感器组合导航系统的设想,仿真结果表明,该组合导航系统具有准确度高、自主性强的特点。     

INS／SAR组合导航系统的原理及其性能研究

研究了ＩＮＳ／ＳＡＲ组合系统的设计原理、算法、关键技术，并对其性能进行了计算机仿真分析，指出了其性能优点及应用前景。     

Adaptive Federal Kalman Filtering for SINS／GPS Integrated System

A new adaptive federal Kalman filter for a strapdown integrated navigation system/global positioning system (SINS/GPS) is given. The developed federal Kalman filter is based on the trace operation of parameters estimation‘s error covariance matrix and the spectral radius of update measurement noise variance-covariance matrix for the proper choice of the filter weight and hence the filter gain factors. Theoretical analysis and results from simulation in which the SINS/GPS was compared to conventional Kalman filter are presented. Results show that the algorithm of this adaptive federal Kalman filter is simpler than that of the conventional one. Furthermore, it outperforms the conventional Kalman filter when the system is undertaken measurement malfunctions because of its possession of adaptive ability. This filter can be used in the vehicle integrated navigation system.     

空空导弹中制导系统蒙特卡罗仿真研究

基于蒙特卡罗仿真技术，研究了导弹中制导方案的可行性，分析输入参数误差，初始不对准误差，惯性器件误差，目标机动，计算延迟等因素对导引头截获目标的影响。仿真结果表明，采用比例导引律和低精度的捷联惯导系统可保证中制导段结束时导引头可靠截获目标。     

Adaptive SINS/GPS Outlier Detection and Accommodation Using Innovation Orthogonal

The outlier detection and accommodation of integration navigation of strapdown inertial navigation systems and global position system (SINS/GPS) were studied. Based on analyzing the innovation orthogonal property in Kalman filter, an outlier adaptive detection approach was first presented, which included the determination of evaluation function and threshold and the logic decision of outlier occurrence. To effectively attenuate the influence on estimation accuracy, a modified Kalman filter algorithm was proposed by accommodation of the dynamic data with outlier. Results of data processing from vehicle-test SINS/GPS integration navigation show the effectiveness of the proposed method.     

Federated unscented particle filtering algorithm for SINS/CNS/GPS system

To solve the problem of information fusion in the strapdown inertial navigation system (SINS)/celestial navigation system (CNS)/global positioning system (GPS) integrated navigation system described by the nonlinear/non-Gaussian error models, a new algorithm called the federated unscented particle filtering (FUPF) algorithm was introduced. In this algorithm, the unscented particle filter (UPF) served as the local filter, the federated filter was used to fuse outputs of all local filters, and the global filter result was obtained. Because the algorithm was not confined to the assumption of Gaussian noise, it was of great significance to integrated navigation systems described by the non-Gaussian noise. The proposed algorithm was tested in a vehicle’s maneuvering trajectory, which included six flight phases: climbing, level flight, left turning, level flight, right turning and level flight. Simulation results are presented to demonstrate the improved performance of the FUPF over conventional federated unscented Kalman filter (FUKF). For instance, the mean of position-error decreases from (0.640×10⁻⁶ rad, 0.667×10⁻⁶ rad, 4.25 m) of FUKF to (0.403×10⁻⁶ rad, 0.251×10⁻⁶ rad, 1.36 m) of FUPF. In comparison of the FUKF, the FUPF performs more accurate in the SINS/CNS/GPS system described by the nonlinear/non-Gaussian error models.     

SINS/GPS组合导航方法设计

根据SINS/GPS组合导航的基本原理,重点研究联合卡尔曼滤波方法在组合导航中的应用,基于最优化理论的数据融合技术,通过分析纯惯性导航系统的误差,建立了组合导航系统的误差模型,设计了高可靠性、易于工程实现的简化联合卡尔曼滤波器和对应的数据融合算法。并对该导航系统进行了动态实验,结果表明组合导航能有效抑制导航参数误差,提高导航精度。     

光纤SINS/GPS组合导航系统分析

为提高光纤陀螺捷联惯导系统的精度,以光纤陀螺捷联惯导系统与全球定位系统（GPS Globle Position System）为研究对象,采用联邦卡尔曼滤波算法,构成了SINS/GPS（Strap-down Inertial Navigation Systerm/Globle Position System）组合导航系统。仿真结果表明,该算法能及时修正子滤波器的偏差,大大降低子滤波器的模型误差,进而提高整个滤波器的精度,并有效克服了滤波发散现象。     

GPS／SINS超紧组合导航系统自适应混合滤波算法

针对传统反馈校正滤波结构中,由于不可观测状态的反馈导致系统滤波精度下降,以及由于全球定位系统／捷联惯性导航系统(GPS／SINS,global positioning system／strapdown inertial navigation system)超紧组合导航系统量测方程的非线性导致滤波难度的增加等问题,本文重新推导了线性的量测方程,并将基于状态可观测性的混合校正滤波算法应用于该模型．通过对比三种主流可观测性分析方法,选用误差协方差阵的特征值和特征向量可观测性分析方法分析系统状态的可观测性．最后根据可观测性分析的结果制定自适应的反馈因子,从而对SINS和GPS接收机误差进行校正．仿真结果显示,该方法可以有效提高不完全可观测系统的估计精度．     

Bridging GPS outages of tightly-coupled GPS/SINS using GMDH neural network

A tightly-coupled GPS(global positioning system)/SINS(strap-down inertial navigation system)based on a GMDH(group method of data handling)neural network was presented to solve the problem of degraded accuracy for less than four visible GPS satellites with poor signal quality.Positions and velocities of the satellites were predicted by a GMDH neural network,and the pseudo-ranges and pseudo-range rates received by the GPS receiver were simulated to ensure the regular operation of the GPS/SINS Kalman filter during outages.In the mathematical simulation a tightly-coupled navigation system with a proposed approach has better navigation accuracy during GPS outages,and the anti-jamming ability is strengthened for the tightly-coupled navigation system.     

GPS/罗兰C/SINS/AHRS组合导航系统及试验

组合导航系统已成为现代船用导航系统的重要配套设备,并已向着多组合导航系统方向发展。针对导航精度及可靠性,设计了GPS/罗兰C/SINS/AHRS组合导航系统,该组合导航采用了自适应联邦卡尔曼滤波(Kalman)的方法,通过闭环形式校正SINS,并用姿态航向参考系统(AHRS)代替捷联惯性导航系统(SINS)输出的航向角以保证航向角的收敛,同时对罗兰C的测量值进行坐标变换以消除由于坐标系不同而带来的常值误差。实际的静态与动态试验结果表明,该组合导航系统是可行的,能满足任务要求,并且易于工程实现。