| SPKF滤波算法在紧耦合GPS/INS组合导航系统中的应用 |
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| 引用本文： | 聂琦,赵琳,奔粤阳. SPKF滤波算法在紧耦合GPS/INS组合导航系统中的应用[J]. 弹箭与制导学报, 2007, 27(1): 1-4,9 |
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| 作者姓名： | 聂琦 赵琳 奔粤阳 |
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| 作者单位： | 哈尔滨程大学自动化学院,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助（60474046）. |
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| 摘 要： | 根据SPKF滤波理论,建立捷联惯导系统在地理坐标系中的误差方程和GPS导航定位的误差模型,设计了GPS/INS的SPKF滤波器。该系统中含有位置误差、速度误差、平台误差角、陀螺漂移、加速度计偏差等17维状态。利用伪距、伪距率的观测信息对全部状态进行观测。对组合导航系统进行了动态仿真,仿真结果表明系统估计状态的导航精度高,系统的鲁棒性好。
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| 关 键 词： | GPS/INS组合导航 紧耦合 SPKF滤波 导航精度 |
| 收稿时间： | 2006-05-24 |
| 修稿时间： | 2006-05-24 |
Application of SPKF Algorithm for Tightly-coupled GPS/INS Integrated Navigation System |
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| NIE Qi,ZHAO Lin,BEN Yue-yang. Application of SPKF Algorithm for Tightly-coupled GPS/INS Integrated Navigation System[J]. Journal of Projectiles Rockets Missiles and Guidance, 2007, 27(1): 1-4,9 |
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| Authors: | NIE Qi ZHAO Lin BEN Yue-yang |
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| Affiliation: | College of Automation, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | According to the SPKF filter theory, this paper research on tightly-coupled GPS/INS integrated navigation system , which has 17 state of position error, velocity error, misalignment, gyro bias, accelerator bias. INS error equa- tions projected in geographic coordinate and GPS error model are established, and SPKF filter model of GPS/INS is designed. Computer simulation results show that navigation accuracy is improved greatly, and the robust of system shows goodness. |
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| Keywords: | GPS/INS integrated navigation tightly-coupled SPKF filter navigation accuracy |
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