露天矿卡车低成本GPS/INS组合导航系统动态对准模型

低成本GPS/INS组合导航系统是露天矿卡车调度系统的理想定位系统，但低成本GPS/INS无法实现静态初始对准。提出地固系下捷联惯性导航系统动态初始对准的非线性误差模型，该模型不需要假设失准角为小角并且直接在地固系下解算，尤其适合于GPS辅助INS动态对准。提出一种简化的Cubature卡尔曼滤波进行GPS/INS数据融合。采用车载实测数据仿真露天矿卡车初始对准实验，实验结果表明：利用GPS信息辅助INS动态初始对准，即使在大失准角情况下，姿态角误差也可以较快收敛。

Low cost GPS/INS in motion alignment model for open pit mine transport truck monitoring and dispatch system

Low cost GPS/INS integrated navigation system is an ideal positioning component for an open pit truck monitoring and dispatching system.However，the sensitivity of low cost GPS/INS is not sufficient for the initial alignment in a static base before navigation.The authors presented a generic inertial navigation system in motion alignment error model which did not rely on the assumption of small misalignment angles.The model was based on the ECEF(Earth Centered Earth Fixed) frame and wass suitable to implement the in motion alignment with GPS aided.In addition，a simplified Cubature Kalman filter algorithm was proposed to solve the non linear error model.An open pit truck navigation simulation was conducted with an actual vehicle test data.The simulation result indicates that the low cost INS aided with GPS can complete the in motion alignment under a large misalignment angle assumption and the proposed model is correct and practicable.